Collaborative Vehicle Headlight Directing

ABSTRACT

Various embodiments include methods and vehicles, such as an autonomous vehicle, a semi-autonomous vehicle, etc., for collaboratively directing one or more headlights by two or more vehicles. Various aspects may include receiving, by a first vehicle processor, a first vehicle collaborative lighting message from a second vehicle, in which the first vehicle collaborative lighting message requests that the first vehicle direct one or more headlights of the first vehicle to illuminate a target area of uncertainty that is disposed, relative to the first vehicle, in a direction other than a direction of travel of the first vehicle. The first vehicle processor may direct one or more the headlights of the first vehicle to illuminate the target area in accordance with the first vehicle collaborative lighting message.

BACKGROUND

Automobiles and trucks are becoming more intelligent as the industrymoves towards deploying autonomous and semi-autonomous vehicles.

Autonomous and semi-autonomous vehicles can detect information abouttheir location and surroundings (for example, using radar, lidar, GPS,file odometers, accelerometers, cameras, and other sensors), and includecontrol systems that interpret sensory information to identify hazardsand determine navigation paths to follow. Autonomous and semi-autonomousvehicles include control systems to operate with limited or no controlfrom an occupant or other operator of the automobile. Some autonomousand semi-autonomous vehicles include headlight beam directing featuresthat direct one or more headlights according to an angle of the steeringwheel, so that, on high curvature roads, the occupants can better see inthe direction of future travel rather than just directly ahead of thevehicle.

SUMMARY

Various aspects include methods enabling a vehicle, such as anautonomous vehicle, a semi-autonomous vehicle, etc., to collaborativelydirect one or more headlights by two or more vehicles. Various aspectsmay include receiving, by a first vehicle processor, a firstcollaborative lighting message from a second vehicle, in which the firstcollaborative lighting message may request that the first vehicle directone or more headlights of the first vehicle, in collaboration with thesecond vehicle steering headlights of the second vehicle according to acollaborative lighting plan, and directing, by the processor, one ormore headlights of the first vehicle in accordance with thecollaborative lighting plan.

Various aspects may include receiving, by a first vehicle processor, afirst vehicle collaborative lighting message from a second vehicle, inwhich the first vehicle collaborative lighting message requests that thefirst vehicle direct one or more headlights of the first vehicle toilluminate a target area of uncertainty that is disposed, relative tothe first vehicle, in a direction other than a direction of travel ofthe first vehicle. The first vehicle processor may direct one or morethe headlights of the first vehicle to illuminate the target area inaccordance with the first vehicle collaborative lighting message.

Some aspects may include the first vehicle collaborative lightingmessage including location identification information of the target areafor directing one or more the headlights of the first vehicle. The firstvehicle collaborative lighting message may include timing informationfor when to illuminate the target area. The target area of uncertaintymay represent an area of uncertainty about which the second vehicle isseeking more information to identify an object contained therein. Thefirst vehicle collaborative lighting message may be sent by the secondvehicle as a warning to the first vehicle related to a potential threatto the first vehicle located in the target area. The first vehiclecollaborative lighting message may include a collaborative lighting planin which the second vehicle directs one or more headlights of the secondvehicle to illuminate a roadway area in the direction of travel of thefirst vehicle.

Some aspects may include the first vehicle processor determining whetherthe first vehicle can direct one or more headlights of the first vehicleto illuminate the target area of uncertainty that is disposed in thedirection other than the direction of travel of the first vehicle, inwhich directing one or more headlights of the first vehicle toilluminate the target area may be performed in response to determiningthe first vehicle can direct one or more headlights of the first vehicleto illuminate the target area of uncertainty. The first vehicleprocessor may transmit a third vehicle collaborative lighting message toa third vehicle, wherein the third vehicle collaborative lightingmessage requests that the third vehicle maintain or increase anillumination level of a roadway area in the direction of travel of thefirst vehicle.

Various aspects may include detecting, by a second vehicle processor, atarget area of uncertainty for which additional illumination is neededto reduce an assessed uncertainty level. A second vehicle processor maytransmit to a first vehicle a first vehicle collaborative lightingmessage that requests that the first vehicle direct one or moreheadlights of the first vehicle to illuminate the target area ofuncertainty that is disposed, relative to the first vehicle, in adirection other than a direction of travel of the first vehicle.

The second vehicle processor may direct one or more the headlights ofthe second vehicle to illuminate a roadway area in the direction oftravel of the first vehicle. The first vehicle collaborative lightingmessage may include a collaborative lighting plan for the first andsecond vehicles collaboratively directing one or more headlights toilluminate the target area of uncertainty. The first vehiclecollaborative lighting message may include a collaborative lighting planthat includes the second vehicle illuminating a roadway in a directionof travel of the second vehicle. The target area of uncertainty may notbe located on a roadway traveled by the second vehicle. The secondvehicle processor may receive a second collaborative lighting messagefrom the first vehicle requesting that the second vehicle direct one ormore headlights of the second vehicle to illuminate a roadway in adirection of travel of the first vehicle. The second vehicle processormay receive a second collaborative lighting message from the firstvehicle that includes a counter-proposal in which the first vehicledirects one or more headlights of the first vehicle to illuminate aroadway in a direction of travel of the second vehicle and the secondvehicle directs one or more headlights of the second vehicle toilluminate the target area of uncertainty. The second vehicle processormay direct one or more the headlights of the second vehicle toilluminate the target area of uncertainty.

Further aspects include a vehicle having one or more directableheadlights and including a processor configured withprocessor-executable instructions to perform operations of any of themethods summarized above. Further aspects include a collaborativeheadlight directing system for use in a vehicle including a processorconfigured with processor-executable instructions to perform operationsof any of the methods summarized above. Further aspects include anon-transitory processor-readable storage medium having stored thereonprocessor-executable software instructions configured to cause aprocessor to perform operations of any of the methods summarized above.Further aspects include a processing device configured for use in avehicle and to perform operations of any of the methods summarizedabove.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated herein and constitutepart of this specification, illustrate exemplary embodiments, andtogether with the general description given above and the detaileddescription given below, serve to explain the features of the variousembodiments.

FIGS. 1A and 1B are component block diagrams illustrating a vehiclesuitable for implementing various embodiments.

FIG. 1C is a component block diagram illustrating components of avehicle suitable for implementing various embodiments.

FIG. 2A is a component block diagram illustrating components of anexample vehicle management system according to various embodiments.

FIG. 2B is a component block diagram illustrating components of anotherexample vehicle management system according to various embodiments.

FIG. 3 is a block diagram illustrating components of an example systemon chip for use in a vehicle that may be configured to broadcast,receive, and/or otherwise use intentions and/or motion plans inaccordance with various embodiments.

FIG. 4 is a component block diagram of an example system configured forcollaborative headlight directing between vehicles according to variousembodiments.

FIGS. 5A, 5B, and 5C illustrate examples of vehicles directing one ormore headlights to follow a collaborative lighting plan in accordancewith various embodiments.

FIGS. 6A, 6B, and/or 6C are process flow diagrams of example methods forcollaborative headlight directing between vehicles according to variousembodiments.

FIGS. 7A, 7B, and/or 7C are process flow diagrams of example methods forcollaborative headlight directing between vehicles according to someembodiments.

FIG. 8 is a communication flow diagram of example communicationexchanges for collaborative headlight directing between two vehiclesaccording to some embodiments.

FIG. 9 is a communication flow diagram of communication exchanges forcollaborative headlight directing between three or more vehiclesaccording to some embodiments.

FIGS. 10A and 10B illustrate examples of vehicles directing one or moreheadlights to follow a collaborative lighting plan in accordance withsome embodiments.

FIGS. 11A, 11B, and/or 11C are process flow diagrams of example methodsfor collaborative headlight directing between vehicles according to someembodiments.

FIGS. 12A, 12B, 12C, and/or 12D are process flow diagrams of examplemethods for collaborative headlight directing between vehicles accordingto some embodiments.

FIGS. 13A, 13B and 13C are communication flow diagrams of examplecommunication exchanges for collaborative headlight directing betweentwo vehicles according to some embodiments.

FIG. 14 is a communication flow diagram of communication exchanges forcollaborative headlight directing between three or more vehiclesaccording to some embodiments.

FIGS. 15A, 15B, and 15C illustrate examples of vehicles in a platoonwith the vehicles directing one or more headlights per a collaborativelighting plan in accordance with some embodiments.

FIGS. 16A, 16B, 16C, 16D, 16E and 16F are process flow diagrams ofexample methods for collaborative headlight directing between vehiclesin a platoon according to some embodiments.

FIGS. 17A, 17B, 17C are process flow diagrams of example methods forcollaborative headlight directing between vehicles in a platoonaccording to some embodiments.

FIG. 18 is a communication flow diagram of communication exchanges forcollaborative headlight directing between vehicles in a platoonaccording to some embodiments.

DETAILED DESCRIPTION

Various aspects will be described in detail with reference to theaccompanying drawings. Wherever possible, the same reference numberswill be used throughout the drawings to refer to the same or like parts.References made to particular examples and embodiments are forillustrative purposes and are not intended to limit the scope of thevarious aspects or the claims.

In various embodiments, two or more vehicles may collaborate to directone or more of their headlights so that the entire roadway is betterilluminated for all vehicles. In various embodiments, a first vehicleprocessor may receive a collaborative lighting message from a secondvehicle. The collaborative lighting message may request that the firstvehicle direct one or more of its headlights in collaboration with thesecond vehicle directing its headlights according to a collaborativelighting plan that improves the illumination of the roadway for bothvehicles. Then both vehicles may direct one or more of their respectiveheadlights in accordance with the collaborative lighting plan.

For example, one or more of the headlights of each of two vehicles maybe directed away from the other so one or more of the headlights of thetwo vehicles overlap less. For example, by having the first vehicleilluminate less roadway ahead of the second vehicle and having thesecond vehicle illuminate less roadway ahead of the first vehicle,rather than both vehicles illuminating the road straight ahead, abroader swath of roadway will be illuminated. Alternatively, if moreoverlapping illumination is preferred, such as to see a shadowy objectahead far in the distance, both vehicles may direct one or moreheadlights collaboratively to overlap, thus better illuminating aroadway ahead of both vehicles.

In various embodiments, two or more vehicles may collaborate to directat least one headlight toward an off-road area of uncertainty. Forexample, a vehicle may encounter areas of uncertainty from problemsviewing, identifying, and/or classifying an object that while off-roadmay still pose a potential threat to the vehicle (e.g., an animal,person, or other vehicle approaching or preparing to cross the road).The off-road object may be hard to visualize due to distance, shadows,obstructions, etc. The vehicle encountering the area of uncertainly maycommunicate to another vehicle and request that other vehicle direct oneor more of its headlights toward the area of uncertainty to betterilluminate that area or illuminate the area from a different angleand/or distance, which may enable a collision avoidance and/or vehiclenavigation system in the requesting vehicle to further classify andavoid any obstacles in the area. In this way, collaborative illuminationmay reduce uncertainties in the areas adjacent a roadway to avoidunexpected threats to vehicles from those areas.

In some embodiments, the first vehicle processor may determine whetherthe first vehicle can collaborate with the second vehicle according tothe proposed collaborative lighting plan. A second collaborativelighting message may be transmitted in response to determining that thefirst vehicle can collaborate with the second vehicle according to thecollaborative lighting plan.

In various embodiments, the collaborative lighting plan may include thefirst and second vehicles collaboratively directing one or moreheadlights to illuminate a common portion of a roadway for the first andsecond vehicles. The collaborative lighting plan may illuminate a largercontinuous area of a pathway on which the first and second vehicles aretraveling than the first and second vehicles would illuminate withheadlights aimed in the respective direction of travel of the first andsecond vehicles. Directing one or more of the headlights of the firstvehicle in accordance with the collaborative lighting plan illuminates aroadway at the same time as one or more of the headlights of the secondvehicle. The collaborative lighting plan may identify an area in aroadway that the second vehicle may request the first vehicle to betterilluminate. The collaborative lighting plan may identify an area ofuncertainty in a roadway that the second vehicle needs to continueilluminating to enable a collision avoidance and/or vehicle navigationsystem in the requesting vehicle to further classify and avoid anyobstacles in the area. The first and second vehicles may be traveling ina different direction. The first and second vehicles may be traveling inopposite directions.

In some embodiments, a third collaborative lighting message may bereceived by the first vehicle processor from a third vehicle. The thirdcollaborative lighting message may request that the first and/or secondvehicle(s) direct one or more headlights of the first and/or secondvehicle(s), respectively, in collaboration with the third vehicledirecting one or more headlights of the third vehicle according to anamended collaborative lighting plan.

Various embodiments include methods by which the second vehicletransmits the first collaborative lighting message and directs itsheadlights in accordance with the collaborative lighting plan. Thesecond vehicle processor may determine whether the second vehicle cancollaborate with the first vehicle according to a collaborative lightingplan. The second vehicle processor may receive a second collaborativelighting message from the first vehicle, which may indicate that thefirst vehicle agrees to follow the collaborative lighting plan. In thisway, directing one or more of the headlights of the second vehicle inaccordance with the collaborative lighting plan may be in response toreceiving the second collaborative lighting message.

In various embodiments, two or more vehicles traveling in a platoon maycollaborate to direct one or more of their respective headlights so thatthe collective illumination is better than may be achieved by anyindividual vehicle or the group of vehicles acting independently. Forexample, vehicles in the second or middle rows of a platoon may directone or more of their headlights toward the side of a road while vehiclesat the front may collaborate to illuminate the roadway ahead of theplatoon.

As used herein the terms “headlight” or “headlights” are used tointerchangeably refer to both the electromechanical parts of a vehiclethat generate powerful beams of light, generally from the front of thevehicle, as well as the light beams themselves, which are cast by theelectromechanical parts. Vehicles may have two or more headlights. Invarious embodiments, headlights may be configured or coupled to amechanism that enables the beam of each headlight to be directed in aparticular direction or angle. For example, one or more headlights on avehicle may be coupled to a steering mechanism that is configured tosteer the headlight in a particular direction or through a defined anglein response to control signals from a vehicle computing device. Othermechanisms for directing headlights may also be used in variousembodiments, such as adjustable lenses, mirrors, and/or prisms that canbe actuated to redirect light emanating a headlight. In someembodiments, the different headlights of a vehicle may be directedindependently (i.e., pointed in different directions), such as oneheadlight illuminating the roadway ahead of the vehicle and oneheadlight directed in a particular direction according to acollaborative lighting plan.

As used herein the terms “roadway” or “roadways” refer to a way, path,or pathway leading from one place to another, especially one with aspecially prepared surface which vehicles can use for travel. A roadwaymay be an intended and/or planned path of travel, whether or not on aprepared surface. As used herein the term “off-road” refers to areasalong and beyond the boundaries of the roadway.

As used herein the terms “platoon” or “platooning” refer to two or morevehicle driving together in a relatively close formation. Platooningvehicles may operate with smaller than usual distances between vehiclesand even optionally couple to one another (e.g., mechanically and/orelectromagnetically).

Methods for collaborative headlight directing may be extended tovehicles organized and traveling within a platoon. Platooning employsmethods to enable a group of vehicles to travel together in acollaborative manner. A platoon control plan may be used to organize,maintain, and/or control the group of vehicles in a formation. Theplatoon control plan may be determined by a single vehicle, which may bereferred to as the “leader.” Within the platoon, in accordance with theplatoon control plan, each participating vehicle assumes a singleposition in the formation. The leader vehicle may coordinate the overallplatoon movement. The other vehicles in the platoon (referred to hereinas “followers”) may follow directions provided by the leader, to theextent those directions do not conflict with other directions a vehicleis programmed to follow (e.g., destination directions may require afollower vehicle to leave the platoon). However, the leader vehicle neednot be the lead vehicle in the platoon. Platooning allows the vehiclesto achieve a number of beneficial results, including increased fuelefficiency, congestion efficiency, collision risk mitigation, freeingthe driver(s) to focus attention away from the road, and other benefits.

The surface transportation industry has increasingly looked to leveragethe growing capabilities of cellular and wireless communicationtechnologies through the adoption of Intelligent Transportation Systems(ITS) technologies to increase intercommunication and safety for bothdriver-operated vehicles and autonomous vehicles. Vehicle-to-everything(V2X) protocols (including vehicle-to-vehicle (V2V),vehicle-to-infrastructure (V2I), vehicle-to-network communications(V2N), and vehicle-to-pedestrian (V2P) protocols), and particularly thecellular V2X (C-V2X) protocol defined by the 3rd Generation PartnershipProject (3GPP), support(s) ITS technologies and serves as the foundationfor vehicles to communicate directly with the communication devicesaround them.

C-V2X defines two transmission modes that, together, provide a 360°non-line-of-sight awareness and a higher level of predictability forenhanced road safety and autonomous driving. A first transmission modeincludes direct C-V2X, which includes V2V, V2I, and V2P, and thatprovides enhanced communication range and reliability in the dedicatedITS 5.9 gigahertz (GHz) spectrum that is independent of a cellularnetwork. A second transmission mode includes V2N communications inmobile broadband systems and technologies, such as third generationwireless mobile communication technologies (3G) (e.g., global system formobile communications (GSM) evolution (EDGE) systems, code divisionmultiple access (CDMA) 2000 systems, etc.), fourth generation wirelessmobile communication technologies (4G) (e.g., long term evolution (LTE)systems, LTE-Advanced systems, mobile Worldwide Interoperability forMicrowave Access (mobile WiMAX) systems, etc.), fifth generationwireless mobile communication technologies (5G) (e.g., 5G New Radio (5GNR) systems, etc.), etc.

The term “system-on-chip” (SOC) is used herein to refer to a set ofinterconnected electronic circuits typically, but not exclusively,including one or more processors, a memory, and a communicationinterface. The SOC may include a variety of different types ofprocessors and processor cores, such as a general purpose processor, acentral processing unit (CPU), a digital signal processor (DSP), agraphics processing unit (GPU), an accelerated processing unit (APU), asub-system processor, an auxiliary processor, a single-core processor,and a multicore processor. The SOC may further embody other hardware andhardware combinations, such as a field programmable gate array (FPGA), aconfiguration and status register (CSR), an application-specificintegrated circuit (ASIC), other programmable logic device, discretegate logic, transistor logic, registers, performance monitoringhardware, watchdog hardware, counters, and time references. SOCs may beintegrated circuits (ICs) configured such that the components of the ICsreside on the same substrate, such as a single piece of semiconductormaterial (e.g., silicon, etc.).

Autonomous and semi-autonomous vehicles, such as cars and, trucks, tourbuses, etc., are becoming a reality on city streets. Autonomous andsemi-autonomous vehicles typically include a plurality of sensors,including cameras, radar, and lidar, that collect information about theenvironment surrounding the vehicle. For example, such collectedinformation may enable the vehicle to recognize the roadway, identifyobjects to avoid, and track the movement and future position of othervehicles to enable partial or fully autonomous navigation.

Various embodiments include methods, vehicles, vehicle managementsystems, and processing devices configured to implement the methods forcollaboratively directing headlights of two or more vehicles, such asautonomous vehicles, semi-autonomous vehicles, driver-operated vehicles,etc., to improve illumination on and off a roadway of the vehicles in asynergistic manner. Facilitated by the increase in bandwidth andreduction in latency of wireless communications enabled by moderncommunication networks, including 5G networks, collaboratively directingone or more headlights among multiple vehicles, particularly autonomousvehicles, may improve illumination of features to enable collisionavoidance and autonomous navigation systems to better control vehicles.

Various embodiments may be implemented within a variety of vehicles, anexample vehicle 100 of which is illustrated in FIGS. 1A and 1B. Withreference to FIGS. 1A and 1B, a vehicle 100 may include a control unit140 and a plurality of sensors 102-138, including satellitegeo-positioning system receivers 108, occupancy sensors 112, 116, 118,126, 128, tire pressure sensors 114, 120, cameras 122, 136, microphones124, 134, impact sensors 130, radar 132, and lidar 138. The plurality ofsensors 102-138, disposed in or on the vehicle, may be used for variouspurposes, such as autonomous and semi-autonomous navigation and control,crash avoidance, position determination, etc., as well to provide sensordata regarding objects and people in or on the vehicle 100. The sensors102-138 may include one or more of a wide variety of sensors capable ofdetecting a variety of information useful for navigation and collisionavoidance. Each of the sensors 102-138 may be in wired or wirelesscommunication with a control unit 140, as well as with each other. Inparticular, the sensors may include one or more cameras 122, 136 orother optical sensors or photo optic sensors. The sensors may furtherinclude other types of object detection and ranging sensors, such asradar 132, lidar 138, IR sensors, and ultrasonic sensors. The sensorsmay further include tire pressure sensors 114, 120, humidity sensors,temperature sensors, satellite geo-positioning system receivers 108,accelerometers, vibration sensors, gyroscopes, gravimeters, impactsensors 130, force meters, stress meters, strain sensors, fluid sensors,chemical sensors, gas content analyzers, pH sensors, radiation sensors,Geiger counters, neutron detectors, biological material sensors,microphones 124, 134, occupancy sensors 112, 116, 118, 126, 128,proximity sensors, and other sensors.

The vehicle control unit 140 may be configured to direct one or moreheadlights 160 in accordance with various embodiments. Additionally, thecontrol unit 140 may have a default setting for one or more of theheadlights 160, such as a no-directing setting or a setting thatautomatically directs one or more of the headlights to follow thesteering wheel. The default setting may be followed when the controlunit 140 is not actively directing one or more of the headlights 160.

The vehicle control unit 140 may be configured with processor-executableinstructions to perform various embodiments using information receivedfrom various sensors, particularly the cameras 122, 136. In someembodiments, the control unit 140 may supplement the processing ofcamera images using distance and relative position (e.g., relativebearing angle) that may be obtained from radar 132 and/or lidar 138sensors. The control unit 140 may further be configured to controldirecting, braking and speed of the vehicle 100 when operating in anautonomous or semi-autonomous mode using information regarding othervehicles determined using various embodiments.

FIG. 1C is a component block diagram illustrating a system 150 ofcomponents and support systems suitable for implementing variousembodiments. With reference to FIGS. 1A, 1B, and 1C, a vehicle 100 mayinclude a control unit 140, which may include various circuits anddevices used to control the operation of the vehicle 100. In the exampleillustrated in FIG. 1C, the control unit 140 includes a processor 164,memory 166, an input module 168, an output module 170 and a radio module172. The control unit 140 may be coupled to and configured to controldrive control components 154, navigation components 156, and one or moresensors 158 of the vehicle 100.

As used herein, the terms “component,” “system,” “unit,” “module,” andthe like include a computer-related entity, such as, but not limited to,hardware, firmware, a combination of hardware and software, software, orsoftware in execution, which are configured to perform particularoperations or functions. For example, a component may be, but is notlimited to, a process running on a processor, a processor, an object, anexecutable, a thread of execution, a program, and/or a computer. By wayof illustration, both an application running on a communication deviceand the communication device may be referred to as a component. One ormore components may reside within a process and/or thread of executionand a component may be localized on one processor or core and/ordistributed between two or more processors or cores. In addition, thesecomponents may execute from various non-transitory computer readablemedia having various instructions and/or data structures stored thereon.Components may communicate by way of local and/or remote processes,function or procedure calls, electronic signals, data packets, memoryread/writes, and other known computer, processor, and/or process relatedcommunication methodologies.

The control unit 140 may include a processor 164 that may be configuredwith processor-executable instructions to control maneuvering,navigation, and/or other operations of the vehicle 100, includingoperations of various embodiments. The processor 164 may be coupled tothe memory 166. The control unit 162 may include the input module 168,the output module 170, and the radio module 172.

The radio module 172 may be configured for wireless communication. Theradio module 172 may exchange signals 182 (e.g., command signals forcontrolling maneuvering, signals from navigation facilities, etc.) witha network transceiver 180, and may provide the signals 182 to theprocessor 164 and/or the navigation components 156. In some embodiments,the radio module 172 may enable the vehicle 100 to communicate with awireless communication device 190 through a wireless communication link187. The wireless communication link 187 may be a bidirectional orunidirectional communication link, and may use one or more communicationprotocols. In some embodiments, the radio module 172 may enable thevehicle 100 to communicate with another vehicle 100 b through a wirelesscommunication link 192. The wireless communication link 192 may be abidirectional or unidirectional communication link, and may use one ormore communication protocols.

The input module 168 may receive sensor data from one or more vehiclesensors 158 as well as electronic signals from other components,including the drive control components 154 and the navigation components156. The output module 170 may be used to communicate with or activatevarious components of the vehicle 100, including the drive controlcomponents 154, the navigation components 156, and the sensor(s) 158.

The control unit 140 may be coupled to the drive control components 154to control physical elements of the vehicle 100 related to maneuveringand navigation of the vehicle, such as the engine, motors, throttles,directing elements, flight control elements, braking or decelerationelements, and the like. The drive control components 154 may alsoinclude components that control other devices of the vehicle, includingenvironmental controls (e.g., air conditioning and heating), externaland/or interior lighting, interior and/or exterior informationaldisplays (which may include a display screen or other devices to displayinformation), safety devices (e.g., haptic devices, audible alarms,etc.), and other similar devices.

The control unit 140 may be coupled to the navigation components 156,and may receive data from the navigation components 156 and beconfigured to use such data to determine the present position andorientation of the vehicle 100, as well as an appropriate course towarda destination. In various embodiments, the navigation components 156 mayinclude or be coupled to a global navigation satellite system (GNSS)receiver system (e.g., one or more Global Positioning System (GPS)receivers) enabling the vehicle 100 to determine its current positionusing GNSS signals. Alternatively, or in addition, the navigationcomponents 156 may include radio navigation receivers for receivingnavigation beacons or other signals from radio nodes, such as Wi-Fiaccess points, cellular network sites, radio station, remote computingdevices, other vehicles, etc. Through control of the drive controlcomponents 154, the processor 164 may control the vehicle 100 tonavigate and maneuver. The processor 164 and/or the navigationcomponents 156 may be configured to communicate with a server 184 on anetwork 186 (e.g., the Internet) using a wireless connection signal 182with a cellular data network transceiver 180 to receive commands tocontrol maneuvering, receive data useful in navigation, providereal-time position reports, and assess other data.

The control unit 162 may be coupled to one or more sensors 158. Thesensor(s) 158 may include the sensors 102-138 as described, and may theconfigured to provide a variety of data to the processor 164.

While the control unit 140 is described as including separatecomponents, in some embodiments some or all of the components (e.g., theprocessor 164, the memory 166, the input module 168, the output module170, and the radio module 172) may be integrated in a single device ormodule, such as a system-on-chip (SOC) processing device. Such an SOCprocessing device may be configured for use in vehicles and beconfigured, such as with processor-executable instructions executing inthe processor 164, to perform operations of various embodiments wheninstalled into a vehicle.

FIG. 2A illustrates an example of subsystems, computational elements,computing devices or units within a vehicle management system 200, whichmay be utilized within a vehicle 100. With reference to FIGS. 1A-2A, insome embodiments, the various computational elements, computing devicesor units within vehicle management system 200 may be implemented withina system of interconnected computing devices (i.e., subsystems), thatcommunicate data and commands to each other (e.g., indicated by thearrows in FIG. 2A). In other embodiments, the various computationalelements, computing devices or units within vehicle management system200 may be implemented within a single computing device, such asseparate threads, processes, algorithms or computational elements.Therefore, each subsystem/computational element illustrated in FIG. 2Ais also generally referred to herein as “layer” within a computational“stack” that constitutes the vehicle management system 200. However, theuse of the terms layer and stack in describing various embodiments arenot intended to imply or require that the corresponding functionality isimplemented within a single autonomous (or semi-autonomous) vehiclemanagement system computing device, although that is a potentialembodiment. Rather the use of the term “layer” is intended to encompasssubsystems with independent processors, computational elements (e.g.,threads, algorithms, subroutines, etc.) running in one or more computingdevices, and combinations of subsystems and computational elements.

In various embodiments, the vehicle management system 200 may include aradar perception layer 202, a camera perception layer 204, a positioningengine layer 206, a map fusion and arbitration layer 208, a routeplanning layer 210, sensor fusion and road world model (RWM) managementlayer 212, motion planning and control layer 214, and behavioralplanning and prediction layer 216. The layers 202-216 are merelyexamples of some layers in one example configuration of the vehiclemanagement system 200. In other configurations consistent with variousembodiments, other layers may be included, such as additional layers forother perception sensors (e.g., LIDAR perception layer, etc.),additional layers for planning and/or control, additional layers formodeling, etc., and/or certain of the layers 202-216 may be excludedfrom the vehicle management system 200. Each of the layers 202-216 mayexchange data, computational results and commands as illustrated by thearrows in FIG. 2A. Further, the vehicle management system 200 mayreceive and process data from sensors (e.g., radar, lidar, cameras,inertial measurement units (IMU) etc.), navigation systems (e.g., GPSreceivers, IMUs, etc.), vehicle networks (e.g., Controller Area Network(CAN) bus), and databases in memory (e.g., digital map data). Thevehicle management system 200 may output vehicle control commands orsignals to the drive by wire (DBW) system/control unit 220, which is asystem, subsystem or computing device that interfaces directly withvehicle directing, throttle and brake controls. The configuration of thevehicle management system 200 and DBW system/control unit 220illustrated in FIG. 2A is merely an example configuration and otherconfigurations of a vehicle management system and other vehiclecomponents may be used in the various embodiments. As an example, theconfiguration of the vehicle management system 200 and DBWsystem/control unit 220 illustrated in FIG. 2A may be used in a vehicleconfigured for autonomous or semi-autonomous operation while a differentconfiguration may be used in a non-autonomous vehicle.

The radar perception layer 202 may receive data from one or moredetection and ranging sensors, such as radar (e.g., 132) and/or lidar(e.g., 138), and process the data to recognize and determine locationsof other vehicles and objects within a vicinity of the vehicle 100. Theradar perception layer 202 may include use of neural network processingand artificial intelligence methods to recognize objects and vehicles,and pass such information on to the sensor fusion and RWM managementlayer 212.

The camera perception layer 204 may receive data from one or morecameras, such as cameras (e.g., 122, 136), and process the data torecognize and determine locations of other vehicles and objects within avicinity of the vehicle 100. The camera perception layer 204 may includeuse of neural network processing and artificial intelligence methods torecognize objects and vehicles, and pass such information on to thesensor fusion and RWM management layer 212.

The positioning engine layer 206 may receive data from various sensorsand process the data to determine a position of the vehicle 100. Thevarious sensors may include, but is not limited to, GPS sensor, an IMU,and/or other sensors connected via a CAN bus. The positioning enginelayer 206 may also utilize inputs from one or more cameras, such ascameras (e.g., 122, 136) and/or any other available sensor, such asradars, LIDARs, etc.

The map fusion and arbitration layer 208 may access data within a highdefinition (HD) map database and receive output received from thepositioning engine layer 206 and process the data to further determinethe position of the vehicle 100 within the map, such as location withina lane of traffic, position within a street map, etc. The HD mapdatabase may be stored in a memory (e.g., memory 166). For example, themap fusion and arbitration layer 208 may convert latitude and longitudeinformation from GPS into locations within a surface map of roadscontained in the HD map database. GPS position fixes include errors, sothe map fusion and arbitration layer 208 may function to determine abest guess location of the vehicle within a roadway based upon anarbitration between the GPS coordinates and the HD map data. Forexample, while GPS coordinates may place the vehicle near the middle ofa two-lane road in the HD map, the map fusion and arbitration layer 208may determine from the direction of travel that the vehicle is mostlikely aligned with the travel lane consistent with the direction oftravel. The map fusion and arbitration layer 208 may pass map-basedlocation information to the sensor fusion and RWM management layer 212.

The route planning layer 210 may utilize the HD map, as well as inputsfrom an operator or dispatcher to plan a route to be followed by thevehicle 100 to a particular destination. The route planning layer 210may pass map-based location information to the sensor fusion and RWMmanagement layer 212. However, the use of a prior map by other layers,such as the sensor fusion and RWM management layer 212, etc., is notrequired. For example, other stacks may operate and/or control thevehicle based on perceptual data alone without a provided map,constructing lanes, boundaries, and the notion of a local map asperceptual data is received.

The sensor fusion and RWM management layer 212 may receive data andoutputs produced by the radar perception layer 202, camera perceptionlayer 204, map fusion and arbitration layer 208, and route planninglayer 210, and use some or all of such inputs to estimate or refine thelocation and state of the vehicle 100 in relation to the road, othervehicles on the road, and other objects within a vicinity of the vehicle100. For example, the sensor fusion and RWM management layer 212 maycombine imagery data from the camera perception layer 204 witharbitrated map location information from the map fusion and arbitrationlayer 208 to refine the determined position of the vehicle within a laneof traffic. As another example, the sensor fusion and RWM managementlayer 212 may combine object recognition and imagery data from thecamera perception layer 204 with object detection and ranging data fromthe radar perception layer 202 to determine and refine the relativeposition of other vehicles and objects in the vicinity of the vehicle.As another example, the sensor fusion and RWM management layer 212 mayreceive information from vehicle-to-vehicle (V2V) communications (suchas via the CAN bus) regarding other vehicle positions and directions oftravel, and combine that information with information from the radarperception layer 202 and the camera perception layer 204 to refine thelocations and motions of other vehicles. The sensor fusion and RWMmanagement layer 212 may output refined location and state informationof the vehicle 100, as well as refined location and state information ofother vehicles and objects in the vicinity of the vehicle, to the motionplanning and control layer 214 and/or the behavior planning andprediction layer 216.

As a further example, the sensor fusion and RWM management layer 212 mayuse dynamic traffic control instructions directing the vehicle 100 tochange speed, lane, direction of travel, or other navigationalelement(s), and combine that information with other received informationto determine refined location and state information. The sensor fusionand RWM management layer 212 may output the refined location and stateinformation of the vehicle 100, as well as refined location and stateinformation of other vehicles and objects in the vicinity of the vehicle100, to the motion planning and control layer 214, the behavior planningand prediction layer 216 and/or devices remote from the vehicle 100,such as a data server, other vehicles, etc., via wirelesscommunications, such as through C-V2X connections, other wirelessconnections, etc.

As a still further example, the sensor fusion and RWM management layer212 may monitor perception data from various sensors, such as perceptiondata from a radar perception layer 202, camera perception layer 204,other perception layer, etc., and/or data from one or more sensorsthemselves to analyze conditions in the vehicle sensor data. The sensorfusion and RWM management layer 212 may be configured to detectconditions in the sensor data, such as sensor measurements being at,above, or below a threshold, certain types of sensor measurementsoccurring, etc., and may output the sensor data as part of the refinedlocation and state information of the vehicle 100 provided to thebehavior planning and prediction layer 216 and/or devices remote fromthe vehicle 100, such as a data server, other vehicles, etc., viawireless communications, such as through C-V2X connections, otherwireless connections, etc.

The refined location and state information may include vehicledescriptors associated with the vehicle and the vehicle owner and/oroperator, such as: vehicle specifications (e.g., size, weight, color, onboard sensor types, etc.); vehicle position, speed, acceleration,direction of travel, attitude, orientation, destination, fuel/powerlevel(s), and other state information; vehicle emergency status (e.g.,is the vehicle an emergency vehicle or private individual in anemergency); vehicle restrictions (e.g., heavy/wide load, turningrestrictions, high occupancy vehicle (HOV) authorization, etc.);capabilities (e.g., all-wheel drive, four-wheel drive, snow tires,chains, connection types supported, on board sensor operating statuses,on board sensor resolution levels, etc.) of the vehicle; equipmentproblems (e.g., low tire pressure, weak brakes, sensor outages, etc.);owner/operator travel preferences (e.g., preferred lane, roads, routes,and/or destinations, preference to avoid tolls or highways, preferencefor the fastest route, etc.); permissions to provide sensor data to adata agency server (e.g., 184); and/or owner/operator identificationinformation.

The behavioral planning and prediction layer 216 of the autonomousvehicle management system 200 may use the refined location and stateinformation of the vehicle 100 and location and state information ofother vehicles and objects output from the sensor fusion and RWMmanagement layer 212 to predict future behaviors of other vehiclesand/or objects. For example, the behavioral planning and predictionlayer 216 may use such information to predict future relative positionsof other vehicles in the vicinity of the vehicle based on own vehicleposition and velocity and other vehicle positions and velocity. Suchpredictions may take into account information from the HD map and routeplanning to anticipate changes in relative vehicle positions as host andother vehicles follow the roadway. The behavioral planning andprediction layer 216 may output other vehicle and object behavior andlocation predictions to the motion planning and control layer 214.Additionally, the behavior planning and prediction layer 216 may useobject behavior in combination with location predictions to plan andgenerate control signals for controlling the motion of the vehicle 100.For example, based on route planning information, refined location inthe roadway information, and relative locations and motions of othervehicles, the behavior planning and prediction layer 216 may determinethat the vehicle 100 needs to change lanes and accelerate, such as tomaintain or achieve minimum spacing from other vehicles, and/or preparefor a turn or exit. As a result, the behavior planning and predictionlayer 216 may calculate or otherwise determine a steering angle for thewheels and a change to the throttle setting to be commanded to themotion planning and control layer 214 and DBW system/control unit 220along with such various parameters necessary to effectuate such a lanechange and acceleration. One such parameter may be a computed steeringwheel command angle.

The motion planning and control layer 214 may receive data andinformation outputs from the sensor fusion and RWM management layer 212and other vehicle and object behavior as well as location predictionsfrom the behavior planning and prediction layer 216, and use thisinformation to plan and generate control signals for controlling themotion of the vehicle 100 and to verify that such control signals meetsafety requirements for the vehicle 100. For example, based on routeplanning information, refined location in the roadway information, andrelative locations and motions of other vehicles, the motion planningand control layer 214 may verify and pass various control commands orinstructions to the DBW system/control unit 220.

The DBW system/control unit 220 may receive the commands or instructionsfrom the motion planning and control layer 214 and translate suchinformation into mechanical control signals for controlling wheel angle,brake and throttle of the vehicle 100. For example, DBW system/controlunit 220 may respond to the computed steering wheel command angle bysending corresponding control signals to the steering wheel controller.

In various embodiments, the vehicle management system 200 may includefunctionality that performs safety checks or oversight of variouscommands, planning or other decisions of various layers that couldimpact vehicle and occupant safety. Such safety check or oversightfunctionality may be implemented within a dedicated layer or distributedamong various layers and included as part of the functionality. In someembodiments, a variety of safety parameters may be stored in memory andthe safety checks or oversight functionality may compare a determinedvalue (e.g., relative spacing to a nearby vehicle, distance from theroadway centerline, etc.) to corresponding safety parameter(s), andissue a warning or command if the safety parameter is or will beviolated. For example, a safety or oversight function in the behaviorplanning and prediction layer 216 (or in a separate layer) may determinethe current or future separate distance between another vehicle (asdefined by the sensor fusion and RWM management layer 212) and thevehicle (e.g., based on the world model refined by the sensor fusion andRWM management layer 212), compare that separation distance to a safeseparation distance parameter stored in memory, and issue instructionsto the motion planning and control layer 214 to speed up, slow down orturn if the current or predicted separation distance violates the safeseparation distance parameter. As another example, safety or oversightfunctionality in the motion planning and control layer 214 (or aseparate layer) may compare a determined or commanded steering wheelcommand angle to a safe wheel angle limit or parameter, and issue anoverride command and/or alarm in response to the commanded angleexceeding the safe wheel angle limit.

Some safety parameters stored in memory may be static (i.e., unchangingover time), such as maximum vehicle speed. Other safety parametersstored in memory may be dynamic in that the parameters are determined orupdated continuously or periodically based on vehicle state informationand/or environmental conditions. Non-limiting examples of safetyparameters include maximum safe speed, maximum brake pressure, maximumacceleration, and the safe wheel angle limit, all of which may be afunction of roadway and weather conditions.

FIG. 2B illustrates an example of subsystems, computational elements,computing devices or units within a vehicle management system 250, whichmay be utilized within a vehicle 100. With reference to FIGS. 1A-2B, insome embodiments, the layers 202, 204, 206, 208, 210, 212, and 216 ofthe vehicle management system 200 may be similar to those described withreference to FIG. 2A and the vehicle management system 250 may operatesimilar to the vehicle management system 200, except that the vehiclemanagement system 250 may pass various data or instructions to a vehiclesafety and crash avoidance system 252 rather than the DBW system/controlunit 220. For example, the configuration of the vehicle managementsystem 250 and the vehicle safety and crash avoidance system 252illustrated in FIG. 2B may be used in a non-autonomous vehicle.

In various embodiments, the behavioral planning and prediction layer 216and/or sensor fusion and RWM management layer 212 may output data to thevehicle safety and crash avoidance system 252. For example, the sensorfusion and RWM management layer 212 may output sensor data as part ofrefined location and state information of the vehicle 100 provided tothe vehicle safety and crash avoidance system 252. The vehicle safetyand crash avoidance system 252 may use the refined location and stateinformation of the vehicle 100 to make safety determinations relative tothe vehicle 100 and/or occupants of the vehicle 100. As another example,the behavioral planning and prediction layer 216 may output behaviormodels and/or predictions related to the motion of other vehicles to thevehicle safety and crash avoidance system 252. The vehicle safety andcrash avoidance system 252 may use the behavior models and/orpredictions related to the motion of other vehicles to make safetydeterminations relative to the vehicle 100 and/or occupants of thevehicle 100.

In various embodiments, the vehicle safety and crash avoidance system252 may include functionality that performs safety checks or oversightof various commands, planning, or other decisions of various layers, aswell as human driver actions, that could impact vehicle and occupantsafety. In some embodiments, a variety of safety parameters may bestored in memory and the vehicle safety and crash avoidance system 252may compare a determined value (e.g., relative spacing to a nearbyvehicle, distance from the roadway centerline, etc.) to correspondingsafety parameter(s), and issue a warning or command if the safetyparameter is or will be violated. For example, a vehicle safety andcrash avoidance system 252 may determine the current or future separatedistance between another vehicle (as defined by the sensor fusion andRWM management layer 212) and the vehicle (e.g., based on the worldmodel refined by the sensor fusion and RWM management layer 212),compare that separation distance to a safe separation distance parameterstored in memory, and issue instructions to a driver to speed up, slowdown or turn if the current or predicted separation distance violatesthe safe separation distance parameter. As another example, a vehiclesafety and crash avoidance system 252 may compare a human driver'schange in steering wheel angle to a safe wheel angle limit or parameter,and issue an override command and/or alarm in response to the steeringwheel angle exceeding the safe wheel angle limit.

FIG. 3 illustrates an example system-on-chip (SOC) architecture of aprocessing device SOC 300 suitable for implementing various embodimentsin vehicles. With reference to FIGS. 1A-3, the processing device SOC 300may include a number of heterogeneous processors, such as a digitalsignal processor (DSP) 303, a modem processor 304, an image and objectrecognition processor 306, a mobile display processor 307, anapplications processor 308, and a resource and power management (RPM)processor 317. The processing device SOC 300 may also include one ormore coprocessors 310 (e.g., vector co-processor) connected to one ormore of the heterogeneous processors 303, 304, 306, 307, 308, 317. Eachof the processors may include one or more cores, and anindependent/internal clock. Each processor/core may perform operationsindependent of the other processors/cores. For example, the processingdevice SOC 300 may include a processor that executes a first type ofoperating system (e.g., FreeBSD, LINUX, OS X, etc.) and a processor thatexecutes a second type of operating system (e.g., Microsoft Windows). Insome embodiments, the applications processor 308 may be the SOC's 300main processor, central processing unit (CPU), microprocessor unit(MPU), arithmetic logic unit (ALU), graphics processing unit (GPU), etc.

The processing device SOC 300 may include analog circuitry and customcircuitry 314 for managing sensor data, analog-to-digital conversions,wireless data transmissions, and for performing other specializedoperations, such as processing encoded audio and video signals forrendering in a web browser. The processing device SOC 300 may furtherinclude system components and resources 316, such as voltage regulators,oscillators, phase-locked loops, peripheral bridges, data controllers,memory controllers, system controllers, access ports, timers, and othersimilar components used to support the processors and software clients(e.g., a web browser) running on a computing device.

The processing device SOC 300 also include specialized circuitry forcamera actuation and management (CAM) 305 that includes, provides,controls and/or manages the operations of one or more cameras 122, 136(e.g., a primary camera, webcam, 3D camera, etc.), the video displaydata from camera firmware, image processing, video preprocessing, videofront-end (VFE), in-line JPEG, high definition video codec, etc. The CAM305 may be an independent processing unit and/or include an independentor internal clock.

In some embodiments, the image and object recognition processor 306 maybe configured with processor-executable instructions and/or specializedhardware configured to perform image processing and object recognitionanalyses involved in various embodiments. For example, the image andobject recognition processor 306 may be configured to perform theoperations of processing images received from cameras (e.g., 122, 136)via the CAM 305 to recognize and/or identify other vehicles, andotherwise perform functions of the camera perception layer 204 asdescribed. In some embodiments, the processor 306 may be configured toprocess radar or lidar data and perform functions of the radarperception layer 202 as described.

The system components and resources 316, analog and custom circuitry314, and/or CAM 305 may include circuitry to interface with peripheraldevices, such as cameras 122, 136, radar 132, lidar 138, electronicdisplays, wireless communication devices, external memory chips, etc.The processors 303, 304, 306, 307, 308 may be interconnected to one ormore memory elements 312, system components and resources 316, analogand custom circuitry 314, CAM 305, and RPM processor 317 via aninterconnection/bus module 324, which may include an array ofreconfigurable logic gates and/or implement a bus architecture (e.g.,CoreConnect, AMBA, etc.). Communications may be provided by advancedinterconnects, such as high-performance networks-on chip (NoCs).

The processing device SOC 300 may further include an input/output module(not illustrated) for communicating with resources external to the SOC,such as a clock 318 and a voltage regulator 320. Resources external tothe SOC (e.g., clock 318, voltage regulator 320) may be shared by two ormore of the internal SOC processors/cores (e.g., the DSP 303, the modemprocessor 304, the image and object recognition processor 306, the MDP,the applications processor 308, etc.).

In some embodiments, the processing device SOC 300 may be included in acontrol unit (e.g., 140) for use in a vehicle (e.g., 100). The controlunit may include communication links for communication with a telephonenetwork (e.g., 180), the Internet, and/or a network server (e.g., 184)as described.

The processing device SOC 300 may also include additional hardwareand/or software components that are suitable for collecting sensor datafrom sensors, including motion sensors (e.g., accelerometers andgyroscopes of an IMU), user interface elements (e.g., input buttons,touch screen display, etc.), microphone arrays, sensors for monitoringphysical conditions (e.g., location, direction, motion, orientation,vibration, pressure, etc.), cameras, compasses, GPS receivers,communications circuitry (e.g., Bluetooth®, WLAN, WiFi, etc.), and otherwell-known components of modern electronic devices.

FIG. 4 shows a component block diagram illustrating a system 400configured for collaboratively directing headlights by two or morevehicles in accordance with various embodiments. In some embodiments,the system 400 may include one or more vehicle computing systems 402 andone or more other vehicle computing system other vehicle computingsystems 404 communicating via a wireless network. With reference toFIGS. 1A-4, the vehicle computing system(s) 402 may include a processor(e.g., 164), a processing device (e.g., 300), and/or a control unit(e.g., 104) (variously referred to as a “processor”) of a vehicle (e.g.,100). The other vehicle computing system(s) 404 may include a processor(e.g., 164), a processing device (e.g., 300), and/or a control unit(e.g., 104) (variously referred to as a “processor”) of a vehicle (e.g.,100).

The vehicle computing system(s) 402 may be configured bymachine-executable instructions 406. Machine-executable instructions 406may include one or more instruction modules. The instruction modules mayinclude computer program modules. The instruction modules may includeone or more of a collaborative lighting message receiving module 408,headlight directing module 410, vehicle collaboration determinationmodule 412, lighting message transmittal module 414, target areadetection module 416, and/or other instruction modules.

The collaborative lighting message receiving module 408 may beconfigured to receive, by a first vehicle processor, a firstcollaborative lighting message from a second vehicle. The firstcollaborative lighting message may request the first vehicle direct oneor more headlights of the first vehicle, in collaboration with thesecond vehicle directing one or more headlights of the second vehicleaccording to a collaborative lighting plan. The collaborative lightingmessage receiving module 408 may also be configured to receive, by thefirst vehicle processor, a second collaborative lighting message. By wayof non-limiting example, receipt of the second collaborative lightingmessage may indicate that another vehicle agrees to follow thecollaborative lighting plan. In this way, directing one or more of theheadlights in accordance with the collaborative lighting plan may be inresponse to receiving the second collaborative lighting message.

The collaborative lighting message receiving module 408 may also beconfigured to receive, by the first vehicle processor, a thirdcollaborative lighting message from a third vehicle. By way ofnon-limiting example, the third collaborative lighting message mayrequest the first and second vehicles to direct one or more headlightsof the first and second vehicles, respectively, in collaboration withthe third vehicle directing one or more headlights of the third vehicleaccording to another collaborative lighting plan. The collaborativelighting message receiving module 408 may be configured to receive anamended collaborative lighting plan. By way of a non-limiting example,the amended collaborative lighting plan may request that the first andsecond vehicles direct one or more headlights of the first and secondvehicles, respectively, in collaboration with a third vehicle directingone or more headlights of the third vehicle.

In addition, the collaborative lighting message receiving module 408 mayreceive a first-vehicle collaborative lighting message from a secondvehicle. The first-vehicle collaborative lighting message may requestthat the first vehicle direct one or more headlights of the firstvehicle so as to illuminate a target area of uncertainty that isdisposed, relative to the first vehicle, in a direction other than adirection of travel of the first vehicle. Also, the collaborativelighting message receiving module 408, in the second vehicle, mayreceive a second collaborative lighting message from the first vehicle,in which the second collaborative lighting message may request that thesecond vehicle direct one or more headlights of the second vehicle so asto illuminate a roadway in a direction of travel of the first vehicle.Alternatively, the second collaborative lighting message may include acounter-proposal in which the first vehicle directs headlights of thefirst vehicle so as to illuminate a roadway in a direction of travel ofthe second vehicle and the second vehicle directs headlights of thesecond vehicle so as to illuminate the target area of uncertainty.

The headlight directing module 410 may be configured to direct, by thevehicle processor, one or more of the headlights of the vehicle inaccordance with the collaborative lighting plan and/or an amendedcollaborative lighting plan. As a non-limiting example, the headlightdirecting module 410 may be configured to direct one or more of theheadlights of the vehicle to illuminate in a direction of travel of thevehicle or in a direction other than in the direction of travel of thevehicle. The headlight directing module 410 may be configured to directone or more of the headlights of the vehicle toward a target area ofuncertainty.

The vehicle collaboration determination module 412 may be configured todetermine, by the vehicle processor, whether the vehicle can collaboratewith another one or more vehicles according to a collaborative lightingplan. Transmitting a second collaborative lighting message may be inresponse to determining that the first vehicle can collaborate with thesecond vehicle according to the collaborative lighting plan.

In addition, the vehicle collaboration determination module 412 may beconfigured to determine whether the first vehicle can direct one or moreheadlights of the first vehicle to illuminate the target area ofuncertainty that is disposed in the direction other than the directionof travel of the first vehicle. Directing one or more of the headlightsof the first vehicle to illuminate the target area may be performed inresponse to determining the first vehicle can direct one or moreheadlights of the first vehicle to illuminate the target area ofuncertainty.

Further, the vehicle collaboration determination module 412 may beconfigured to determine a collaborative lighting plan based on locationinformation received from vehicles in a platoon of vehicles. The vehiclecollaboration determination module 412 may be configured to determinewhether a vehicle in the platoon of vehicles is positioned in one of aplurality of perimeter positions of the platoon. The collaborativelighting plan may direct a vehicle not in one of the plurality ofperimeter positions to turn off one or more of the headlights or reducea level of illumination emitted by one or more of the headlights of thatvehicle. The vehicle collaboration determination module 412 may beconfigured to collaborate with other vehicles to determine thecollaborative lighting plan. Also, the vehicle collaborationdetermination module 412 may be configured to determine whether tochange the collaborative lighting plan based on a received request fromanother vehicle. In addition, the vehicle collaboration determinationmodule 412 may be configured to determine whether to change thecollaborative lighting plan in response to determining that at least onevehicle has joined or departed from the platoon.

The lighting message transmittal module 414 may be configured totransmit to another vehicle a collaborative lighting message, either anoriginating collaborative lighting message or in response to determiningthat the vehicle can collaborate with another vehicle to follow acollaborative lighting plan. As a non-limiting example, the lightingmessage transmittal module 414 may be configured to transmit, to a firstvehicle by a second vehicle processor, a first collaborative lightingmessage. The first collaborative lighting message may request that thefirst vehicle direct one or more headlights of the first vehicle incollaboration with the second vehicle directing one or more headlightsof the second vehicle in accordance with a collaborative lighting plan.Additionally or alternatively, the lighting message transmittal module414 may be configured to transmit to the second vehicle a secondcollaborative lighting message in response to determining that the firstvehicle can collaborate with the second vehicle according to thecollaborative lighting plan. Also, the lighting message transmittalmodule 414 may be configured to transmit, from a third vehicle by thethird vehicle processor, a third collaborative lighting message. By wayof non-limiting example, the third collaborative lighting message mayrequest that the first vehicle, and any other vehicle collaborating withthe first vehicle, direct one or more headlights in collaboration withthe third vehicle directing one or more headlights of the third vehicleto better illuminate a pathway for the first, second, and thirdvehicles. As a further non-limiting example, the third-vehiclecollaborative lighting message may request that the third vehiclemaintain or increase an illumination level of a roadway area in thedirection of travel of the first vehicle.

In addition, the lighting message transmittal module 414 may beconfigured to transmit a collaborative lighting message that includes acollaborative lighting plan. The collaborative lighting plan may directthe first vehicle to direct one or more headlights of the first vehicleto illuminate the target area of uncertainty that is disposed, relativeto the first vehicle, in a direction other than a direction of travel ofthe first vehicle. The collaborative lighting plan may define how thefirst and second vehicles may collaboratively direct one or moreheadlights to illuminate a common portion of a pathway for the first andsecond vehicles. The collaborative lighting plan may illuminate a largercontinuous area of a pathway on which the first and second vehicles aretraveling than the first and second vehicles would illuminate withheadlights aimed in the respective direction of travel of the first andsecond vehicles. Directing one or more of the headlights of the firstvehicle in accordance with the collaborative lighting plan mayilluminate a roadway at the same time as the second vehicle illuminatesa roadway.

The collaborative lighting plan may identify an area on a roadway thatthe second vehicle requests the first vehicle to illuminate with itsheadlights. The collaborative lighting plan may identify an area ofuncertainty on a roadway that the second vehicle needs to continueilluminating, such as to enable a collision avoidance and/or vehiclenavigation system in the requesting vehicle to further classify andavoid any obstacles in the area. The collaborative lighting plan maydefine how the first and second vehicles should collaboratively directone or more headlights to illuminate a common portion of a roadway forthe first and second vehicles. The collaborative lighting plan mayilluminate a larger continuous area of a pathway on which the first andsecond vehicles are traveling than the first and second vehicles wouldilluminate with headlights aimed in the respective direction of travelof the first and second vehicles. Directing one or more of theheadlights of the first vehicle in accordance with the collaborativelighting plan may illuminate a roadway at the same time as one or moreof the headlights of the second vehicle. The collaborative lighting planmay identify an area on a roadway that the second vehicle may requestthe first vehicle better illuminate. The collaborative lighting plan mayalternatively or additionally identify an area of uncertainty on aroadway that the second vehicle needs to continue illuminating, such asto enable a collision avoidance and/or vehicle navigation system in therequesting vehicle to further classify and avoid any obstacles in thearea.

The collaborative lighting plan may direct one or more of the vehiclesin a platoon to direct one or more headlights of the respective vehiclesin a direction other than a direction of travel of the platoon. In thisway, the collaborative lighting plan may direct two or more vehicles ofthe platoon to direct one or more headlights to improve illumination ofa roadway for the platoon as a whole. In addition, the collaborativelighting plan may direct a vehicle in the platoon to turn off or dim oneor more of the headlights of the vehicle. The collaborative lightingplan may be contingent upon one or more of the vehicles of the platoonremaining in a current relative position within the platoon. Inaddition, the collaborative lighting plan may take into account thereceived vehicle location information.

The target area detection module 416 may be configured to detect atarget area of uncertainty for which the vehicle processor determinesadditional illumination is needed. The target area detection module 416may be configured to use sensors (e.g., radar perception layer 202,camera perception layer 204, etc.) or other inputs (e.g., V2Xcommunications) to detect areas surrounding a vehicle for which moreinformation is needed, such as to classify and/or track an object.Additional information may be needed by a vehicle safety system thatuses visual systems to recognize conditions that may affect how thevehicle operates or should operate. For example, if a vehicle processoranalyzing camera data detects an object, creature, or other vehicleapproaching the subject vehicle or being approached by the subjectvehicle, the vehicle processor may control the subject vehicle (e.g.,through the motion planning and control layer 214) to slow down, speedup, change direction, or perform any other needed action to avoid acollision or other unwanted interaction with the condition. However,darkness or low lighting conditions may hamper the full assessment ofconditions in the vicinity of a vehicle based on camera images. Forexample, a vehicle's radar or LIDAR system may detect an area includingan object that should be imaged to classify for tracking and avoidancepurposes, but low levels of light may prevent an accurate analysis ofthe detected object using a camera system. To address this, variousembodiments use collaborative headlight directing to enable a vehicle torecruit the assistance of other vehicles to provide additionalillumination through headlight directing toward a poorly lit areadetermined to be of interest (e.g., a condition associated with a highprobability of posing a risk to the requesting vehicle, others, or othernegative interaction with the condition).

Various conditions may be detected by the image and object recognitionsystems of a vehicle (e.g., image and object recognition processor 306)using inputs from vehicle sensors. Such systems may enable a vehicleprocessor to detect conditions on the roadway (e.g., a pothole,flooding, object, creature, etc.) or off the roadway (e.g., a creatureor vehicle approaching the road, a tree falling, an object moving,etc.). A detected condition may need to pose a minimum level ofimportance to warrant being considered a “condition of interest.” Forexample, a large stationary boulder on the side of the road may not needadditional attention, but that same boulder rolling toward the road maybe a threat. Thus, the vehicle processor may access a database, memory,logic engine, or other system to determine whether detected conditionspose the minimum level of importance or threat to be addressed as acondition of interest.

When lighting conditions are too low (i.e., below the illuminationthreshold), a threat assessment by a camera system may not be made ormay not be sufficiently accurate. Thus, the vehicle processor maydesignate or have designated a minimum illumination threshold forperforming object classification/recognition using the camera system. Ifvehicle object recognition systems detect an object off the roadway,such as based on radar returns, for which the minimum illuminationthreshold is not met, and thus the camera system will be unable toclassify and track the object, the area around the detected object maybe treated as a “target area of uncertainty” requiring betterillumination.

The minimum illumination threshold level may also correspond to athreshold illumination level above which additional lighting from one ormore of the headlights of another vehicle may not help the objectrecognition systems with object classification, recognition or tracking.Thus, an area within sensor range (e.g., radar and/or camera range) maynot be considered or referred to as a “target area of uncertainty” ifthere is sufficient illumination for the camera system. Thus, thevehicle processor may designate a detected off-road object as a “targetarea of uncertainty” only if the vehicle processor determines that thelighting conditions in the area are below the minimum illuminationthreshold.

Additionally, although a condition of interest may exist within an areahaving lighting conditions below the minimum illumination threshold, thevehicle processor may not consider the area a target area of uncertaintyfor collaborative lighting purposes if there is no other vehicleavailable in the vicinity that can perform collaborative headlightdirecting.

Thus, the vehicle processor may designate an area as a target area ofuncertainty in response to determining a condition of interest exists inthe area, the lighting condition in the area are below the minimumillumination threshold, and one or more other vehicles is in the regionthat may be able to assist in providing additional lighting. Once atarget area of uncertainty is designated, the vehicle processor maytransmit a collaborative lighting message for coordinating acollaborative lighting plan with the other vehicle(s). The collaborativelighting plan may direct the other vehicle(s) to direct one or moreheadlights to illuminate the target area of uncertainty or otherwisehelp in illuminating the area.

The platoon collaboration module 418 may be configured to coordinate,compile, and manage aspects of platooning. When forming a platoon, theplatoon collaboration module 418 may consider input provided by eachvehicle, such as a destination, timing constraints, and/or a currentposition and velocity thereof. Selection of and changes to platoonformations may be determined according to a number of factors, such asthe number of vehicles platooning or the road geometry. For example, asingle lane road may be limited to a single in-line formation, while ahighway with more than one lane may allow the platoon to form as amulti-lane cluster of vehicles. Also, the platoon need not utilize allthe lanes available on a highway (e.g., leaving the left-most lane freefor other vehicles to pass).

The platoon collaboration module 418 may consider platoon goals orpriorities when implementing the platoon control plan or sub-elementsthereof, such as a collaborative lighting plan. For example, if fuel orenergy efficiency is a priority for the platoon, an in-line,closely-spaced formation may be used to gain efficiencies from drafting.Similarly, one or more of the vehicles in the platoon may be directed todim or turn off one or more of their headlights to minimize energyexpenditures.

Vehicles that participate in a platoon formation may need to be equippedwith the platoon collaboration module 418 or some equivalent thereof. Inaddition, platooning vehicles may require V2V communicationscapabilities, an ability to implement at least a core subset of theplatoon control plan, communication protocols, and associated processingand maneuvering functions. Some vehicles may be capable and configuredto take any role in the formation. Others vehicles, based on vehicleequipment or driver/occupant characteristics, may be constrained to asmaller range of roles within the formation.

In some embodiments, vehicle computing system(s) 402, other vehiclecomputing system(s) 404 may communicate with one another via a wirelessnetwork 430, such as V2V wireless communication links. Additionally, thevehicle computing system(s) 402 and other vehicle computing system(s)404 may be connected to wireless communication networks that provideaccess to external resources 430. For example, such electroniccommunication links may be established, at least in part, via a networksuch as the Internet and/or other networks. It will be appreciated thatthis is not intended to be limiting, and that the scope of thisdisclosure includes embodiments in which vehicle computing system(s)402, other vehicle computing system(s) 404, and/or external resources430 may be operatively linked via some other communication media.

The other vehicle computing system 404 may also include one or moreprocessors configured to execute computer program modules configured bymachine-executable instructions 406. Machine-executable instructions 406may include one or more instruction modules that may include one or moreof a collaborative lighting message receiving module 408, headlightdirecting module 410, vehicle collaboration determination module 412,lighting message transmittal module 414, target area detection module416, platoon collaboration module 418 and/or other instruction modulessimilar to the vehicle computing system 402 of a first vehicle asdescribed.

External resources 430 may include sources of information outside ofsystem 400, external entities participating with the system 400, and/orother resources. For example, external resource 430 may include map dataresources, highway information systems, weather forecast services, etc.In some embodiments, some or all of the functionality attributed hereinto external resources 430 may be provided by resources included insystem 400.

Vehicle computing system(s) 402 may include electronic storage 420, oneor more processors 422, and/or other components. Vehicle computingsystem(s) 402 may include communication lines, or ports to enable theexchange of information with a network and/or other vehicle computingsystem. Illustration of vehicle computing system(s) 402 in FIG. 4 is notintended to be limiting. Vehicle computing system(s) 402 may include aplurality of hardware, software, and/or firmware components operatingtogether to provide the functionality attributed herein to vehiclecomputing system(s) 402. For example, vehicle computing system(s) 402may be implemented by a cloud of vehicle computing systems operatingtogether as vehicle computing system(s) 402.

Electronic storage 420 may comprise non-transitory storage media thatelectronically stores information. The electronic storage media ofelectronic storage 420 may include one or both of system storage that isprovided integrally (i.e., substantially non-removable) with vehiclecomputing system(s) 402 and/or removable storage that is removablyconnectable to vehicle computing system(s) 402 via, for example, a port(e.g., a universal serial bus (USB) port, a firewire port, etc.) or adrive (e.g., a disk drive, etc.). Electronic storage 420 may include oneor more of optically readable storage media (e.g., optical disks, etc.),magnetically readable storage media (e.g., magnetic tape, magnetic harddrive, floppy drive, etc.), electrical charge-based storage media (e.g.,EEPROM, RAM, etc.), solid-state storage media (e.g., flash drive, etc.),and/or other electronically readable storage media. Electronic storage420 may include one or more virtual storage resources (e.g., cloudstorage, a virtual private network, and/or other virtual storageresources). Electronic storage 420 may store software algorithms,information determined by processor(s) 422, information received fromvehicle computing system(s) 402, information received from other vehiclecomputing system(s) 404, and/or other information that enables vehiclecomputing system(s) 402 to function as described herein.

Processor(s) 422 may be configured to provide information processingcapabilities in vehicle computing system(s) 402. As such, processor(s)422 may include one or more of a digital processor, an analog processor,a digital circuit designed to process information, an analog circuitdesigned to process information, a state machine, and/or othermechanisms for electronically processing information. Althoughprocessor(s) 422 is shown in FIG. 4 as a single entity, this is forillustrative purposes only. In some embodiments, processor(s) 422 mayinclude a plurality of processing units. These processing units may bephysically located within the same device, or processor(s) 422 mayrepresent processing functionality of a plurality of devices operatingin coordination. Processor(s) 422 may be configured to execute modules408, 410, 412, 414, 416, and/or 418, and/or other modules. Processor(s)422 may be configured to execute modules 408, 410, 412, 414, 416, and/or418, and/or other modules by software; hardware; firmware; somecombination of software, hardware, and/or firmware; and/or othermechanisms for configuring processing capabilities on processor(s) 422.As used herein, the term “module” may refer to any component or set ofcomponents that perform the functionality attributed to the module. Thismay include one or more physical processors during execution ofprocessor readable instructions, the processor readable instructions,circuitry, hardware, storage media, or any other components.

It should be appreciated that although modules 408, 410, 412, 414, 416,and/or 418 are illustrated in FIG. 4 as being implemented within asingle processing unit, in embodiments in which processor(s) 422includes multiple processing units, one or more of modules 408, 410,412, 414, 416, and/or 418 may be implemented remotely from the othermodules. The description of the functionality provided by the differentmodules 408, 410, 412, 414, 416, and/or 418 described below is forillustrative purposes, and is not intended to be limiting, as any ofmodules 408, 410, 412, 414, 416, and/or 418 may provide more or lessfunctionality than is described. For example, one or more of modules408, 410, 412, 414, 416, and/or 418 may be eliminated, and some or allof its functionality may be provided by other ones of modules 408, 410,412, 414, 416, and/or 418. As another example, processor(s) 422 may beconfigured to execute one or more additional modules that may performsome or all of the functionality attributed below to one of modules 408,410, 412, 414, 416, and/or 418.

FIGS. 5A and 5B illustrate an environment 500 in which two vehicles 100a, 100 b are using collaborative headlight directing. FIG. 5Cillustrates the same environment 500, but with an additional vehicle 100c approaching the other two vehicles 100 a, 100 b. With reference toFIGS. 1-5A and 5C, the vehicle (e.g., 100) described above may representany or all of the vehicles 100 a, 100 b, 100 c. The environment 500includes the three vehicles 100 a, 100 b, 100 c, one of which istraveling in an opposite direction to the other two on a roadway 10(i.e., a pathway). The roadway 10 happens to be a three-lane road, withone lane (i.e., the furthest left lane in the orientation shown in FIGS.5A-5C) dedicated to travel in one direction and two lanes (i.e., the tworight lanes in the orientation shown in FIGS. 5A-5C). The methods andsystems of various embodiments may be applied to any pathway, whether ornot it is a paved and clearly marked road.

With reference to FIG. 5A, the two vehicles 100 a, 100 b are travelingalong the roadway 10, in opposite directions. Each of the first vehicle100 a and the second vehicle 100 b has its headlights 160 a, 160 b aimedforward (i.e., in the direction of travel of each vehicle 100 a, 100 b,respectively). This results in an overlap zone 565 of the combinedheadlights 160 a, 160 b.

In accordance with various embodiments, either one of the two vehicles100 a, 100 b may initiate a collaborative headlight directingarrangement. For example, a processor of the second vehicle 100 b maydetermine whether the second vehicle 100 b can collaborate with thefirst vehicle 100 a, according to a collaborative lighting plan. Inresponse to determining that the second vehicle 100 b can collaboratewith the first vehicle 100 a according to the collaborative lightingplan, the second vehicle 100 b may transmit to the first vehicle 100 a afirst collaborative lighting message via the wireless communication link192. While the wireless communication link 192 may be an RFcommunication, alternatively, the communication link 192 may usesignaling embedded in the beams from the vehicle headlights 160 a, 160b. Unique identifiers (IDs) or fingerprints may be encoded in eachvehicle's headlights 160 a, 160 b using visible-light-basedcommunication methods. In this way, each vehicle may observe, throughvisible-light-based communications, messages for collaborating headlightdirecting along with vehicle IDs from other vehicles whose headlightsinclude such encoding. Thus, vehicles may transmit collaborativelighting messages that include vehicle IDs to facilitate collaborationbetween any two vehicles. Optionally vehicle IDs may change (e.g.,rotate) on a regular basis (e.g., hourly or daily) to preserve privacyand prevent tracking by visible-light communication receivers along theroadway. In some embodiments, vehicle IDs may be encoded in vehicleheadlight emissions to supplement RF communications of messages forcollaborating headlight directing to enable vehicles to correlate RFcommunications to particular vehicles, which may facilitatecollaborating headlight directing when there are many vehicles in thearea.

Once the first vehicle receives first collaborative lighting message,like the second vehicle 100 b, the first vehicle 100 a may determinewhether the first vehicle 100 a can collaborate with the second vehicle100 b, according to the collaborative lighting plan. In response todetermining that the first vehicle 100 a can collaborate with the secondvehicle 100 b according to the collaborative lighting plan, the firstvehicle 100 b may transmit to the second vehicle 100 b a secondcollaborative lighting message via the wireless communication link 192.The second collaborative lighting message may indicate that the firstvehicle 100 a can collaborate with the second vehicle 100 b according tothe collaborative lighting plan. Receipt of the second collaborativelighting message by the second vehicle 100 b may indicate to the secondvehicle 100 b that the first vehicle agrees to follow the collaborativelighting plan. For example, the second vehicle 100 b may transmit anRF-based and/or visible-light-based acknowledgement and/or agreementmessage to the first vehicle 100 a, optionally using an encoded vehicleID for the first vehicle 100 a so that the first vehicle can confirmthat the second vehicle 100 b is responding to the correct collaborativelighting plan communication.

With reference to FIG. 5B, the two vehicles 100 a, 100 b have each nowdirected their headlights 160 a, 160 b according to the collaborativelighting plan, which in this instance directed one or more of theheadlights 160 a, 160 b toward a shoulder on their respective sides ofthe road. In this way, the two vehicles 100 a, 100 b directed theirheadlights away from aiming almost directly at one another. In addition,the collaborative lighting plan provides more illumination to theoff-road areas, to each side of the roadway 10, which may reveal objectsor creatures in those areas. Alternatively, an adjustable beam headlightsystem may be able to narrow the beams of one or more of the headlights,allowing the headlight to be directed so as to avoid the oncomingvehicle without illuminating so much of the off-road areas alongside theroadway 10.

With reference to FIG. 5C, the third vehicle 100 c is overtaking thefirst vehicle 100 a just as the first vehicle 100 a was passing thesecond vehicle 100 b. In accordance with various embodiments, aprocessor of the third vehicle 100 c, as it approaches the first vehicle100 a, may determine whether the third vehicle 100 c can collaboratewith the first vehicle 100 a, according to a new collaborative lightingplan, which may not be the same as the existing collaborative lightlyplans. Alternatively, if the second vehicle 100 b is within visual andcommunications range of the third vehicle 100 c, the third vehicle 100 cmay determine whether it can collaborate with the second vehicle 100 bas well. For purposes of this example, it is assumed that the thirdvehicle did not attempt to collaborate with the second vehicle.

In response to the third vehicle 100 c determining that it cancollaborate with the first vehicle 100 a, according to a newcollaborative lighting plan, the third vehicle 100 c may transmit to thefirst vehicle 100 a a third collaborative lighting message via thewireless communication link 192. Once the first vehicle receives thirdcollaborative lighting message, like the third vehicle 100 c, the firstvehicle 100 a may determine whether the first vehicle 100 a cancollaborate with the third vehicle 100 c, according to the newcollaborative lighting plan. In this instance, since the first andsecond vehicles 100 a, 100 b are still in the process of executing thecollaborating lighting plan initiated by the second vehicle 100 b, thefirst vehicle 100 a may not be able to accept the new collaborativelighting plan received from the third vehicle 100 c.

In response to determining that the first vehicle 100 a cannot use thenew collaborative lighting plan, the first vehicle 100 b may transmit tothe second and third vehicles 100 b, 100 c an updated collaborativelighting plan via the wireless communication links 192. The updatedcollaborative lighting plan may incorporate headlight directing by thethird vehicle into the original collaborative lighting plan between thefirst and second vehicles 100 a, 100 b. In this instance, followingreceipt of the updated collaborative lighting plan, the first and secondvehicles 100 a, 100 b maintained the headlight directing configurationof the original collaborative lighting plan, while the third vehicle 100c directed one or more of its headlights toward the right shoulder,avoiding overlap or significant overlap with one or more of theheadlights 160 a of the first vehicle 100 a.

FIGS. 6A, 6B, 6C, 7A, 7B, 7C, 8, and/or 9 illustrate operations ofmethods 600, 603, 605, 700, 703, and 705, respectively, forcollaborative headlight directing between vehicles in accordance withvarious embodiments. With reference to FIGS. 1A-9, the methods 600, 603,605, 700, 703, and 705 may be implemented in a processor (e.g., 164), aprocessing device (e.g., 300), and/or a control unit (e.g., 104)(variously referred to as a “processor”) of a vehicle (e.g., 100, 100 a,100 b, or 100 c). In some embodiments, the methods 600, 603, 605, 700,703, and 705 may be performed by one or more layers within a vehiclemanagement system stack, such as a vehicle management system (e.g., 200,250). In some embodiments, the methods 600, 603, 605, 700, 703, and 705may be performed by a processor independently from, but in conjunctionwith, a vehicle control system stack, such as the vehicle managementsystem. For example, the methods 600, 603, 605, 700, 703, and 705 may beimplemented as a stand-alone software module or within dedicatedhardware that monitors data and commands from/within the vehiclemanagement system and is configured to take actions and store data asdescribed.

FIGS. 6A and 8 illustrates a method 600 of collaborative headlightdirecting between vehicles in accordance with various embodiments.Operations of the method 600 are also illustrated in FIG. 8, which showsinteractions between a first vehicle 100 a implementing the method 600and another (i.e., second) vehicle 100 b implementing the method 700illustrated in FIG. 7. Operations in the blocks shown in FIG. 8correspond to the operations of methods 600 and 700 for like numberedblocks described below.

In block 602, a first vehicle processor may receive a firstcollaborative lighting message 652 from a second vehicle. The firstcollaborative lighting message 652 may request that the first vehicledirect one or more headlights of the first vehicle, in collaborationwith the second vehicle directing one or more headlights of the secondvehicle according to a collaborative lighting plan.

In block 608, the first vehicle processor may direct one or more of theheadlights of the first vehicle in accordance with the collaborativelighting plan.

In some embodiments, the processor may repeat the operations in blocks602 and 608 to periodically or continuously direct one or moreheadlights collaboratively according to a collaborative lighting planuntil the plan is completed or cancelled by either vehicle.

FIGS. 6B and 8 illustrate a method 603 of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 604, following the operations of block 602 in the method 600,the processor of the first vehicle may determine whether the firstvehicle can collaborate with the second vehicle according to thecollaborative lighting plan.

In block 606, the processor may transmit to the second vehicle a secondcollaborative lighting message 656 in response to determining that thefirst vehicle can collaborate with the second vehicle according to thecollaborative lighting plan.

In some embodiments, the processor may repeat any or all of theoperations in blocks 604 and 606 to repeatedly or continuously directone or more headlights collaboratively according to a collaborativelighting plan until the plan is completed or cancelled by eithervehicle.

FIGS. 6C and 9 illustrate method 605 of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 610, the processor may perform operations including receiving,by the first vehicle processor, a third collaborative lighting message852 from a third vehicle. The third collaborative lighting message 852may request the first and/or second vehicle(s) direct one or moreheadlights of the first and/or second vehicle(s), respectively, incollaboration with the third vehicle directing one or more headlights ofthe third vehicle according to an amended collaborative lighting plan.

In block 616, the processor may perform operations including directing,by the first vehicle processor, one or more of the headlights of thefirst vehicle in accordance with the amended collaborative lightingplan.

In some embodiments, the processor may repeat any or all of theoperations in blocks 610 and 616 to repeatedly or continuously directone or more headlights collaboratively according to a collaborativelighting plan until the plan is completed or cancelled by eithervehicle.

FIGS. 7A and 8 illustrate a method 700 of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 704, a second vehicle processor may transmit to the firstvehicle the first collaborative lighting message 652. The firstcollaborative lighting message 652 may request the first vehicle directone or more headlights of the first vehicle, in collaboration with thesecond vehicle directing one or more headlights of the second vehicleaccording to a collaborative lighting plan.

In block 708, the second vehicle processor may direct one or more of theheadlights of the second vehicle in accordance with the collaborativelighting plan.

In some embodiments, the processor may repeat any or all of theoperations in blocks 704 and 708 to repeatedly or continuously directone or more headlights collaboratively according to a collaborativelighting plan until the plan is completed or cancelled by eithervehicle.

FIGS. 7B and 8 illustrate a method 703 of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 706, the second vehicle processor may receive a secondcollaborative lighting message 656 from the first vehicle. Receipt ofthe second collaborative lighting message 656 may indicate that thefirst vehicle agrees to follow the collaborative lighting plan. In thisway, directing one or more of the headlights of the second vehicle inaccordance with the collaborative lighting plan may be in response toreceiving the second collaborative lighting message 656.

In some embodiments, the processor may repeat any or all of theoperations in blocks 706 to repeatedly or continuously direct one ormore headlights collaboratively according to a collaborative lightingplan until the plan is completed or cancelled by either vehicle.

FIGS. 7C and 9 illustrate a method 705 of collaborative headlightdirecting between three vehicles in accordance with some embodiments.Operations of the methods 600, 700 and 705 are also illustrated in FIG.9, which shows interactions between a first vehicle 100 a implementingmethod 600, a second vehicle 100 b implementing the method 700, and athird vehicle 100 b implementing the method 705. Operations in theblocks shown in FIG. 8 correspond to the operations of methods 600 and700 for like numbered blocks described below.

In block 710, the second vehicle processor may transmit an amendedcollaborative lighting plan by way of a fourth collaborative lightingmessage 954. The amended collaborative lighting plan may request thatthe first and second vehicles direct one or more headlights of the firstand second vehicles, respectively, in collaboration with a third vehicledirecting one or more headlights of the third vehicle.

In block 712, the second vehicle processor may direct one or moreheadlights of the second vehicle in accordance with the amendedcollaborative lighting plan.

In some embodiments, the second vehicle processor may repeat any or allof the operations in blocks 710 and 712 to repeatedly or continuouslydirect one or more headlights collaboratively according to acollaborative lighting plan until the plan is completed or cancelled byeither vehicle.

FIG. 8 illustrates an additional operation that may be performed by theprocessor of the second vehicle when initiating collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 702, the processor of the second vehicle may determine whetherthe second vehicle can collaborate with the first vehicle according to acollaborative lighting plan. As part of the operations in block 702, theprocessor of the second vehicle may determine elements of acollaborative lighting plan that can be implemented by both the firstvehicle and the second vehicle (i.e., to enable collaboration onlighting).

In some embodiments, the processor may repeat any or all of theoperations illustrated in FIG. 8 to repeatedly or continuously directone or more headlights collaboratively according to a collaborativelighting plan.

FIG. 9 illustrates addition elements of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 612, the processor of the first vehicle may determine whetherthe first vehicle can collaborate with the third vehicle to illuminate aroadway.

In block 614, the first vehicle processor may transmit to the secondvehicle a fourth collaborative lighting message 954 and transmit to thethird vehicle a fifth collaborative lighting message 956 in response todetermining that the first vehicle can collaborate with the second andthird vehicles according to an amended collaborative lighting plan.

In block 902, the processor of the third vehicle may determine whetherthe third vehicle can collaborate with the first vehicle according toanother collaborative lighting plan.

In block 904, the third vehicle processor may transmit to the firstvehicle a third collaborative lighting message 852. The thirdcollaborative lighting message 852 may request the first vehicle directone or more headlights of the first vehicle, in collaboration with thethird vehicle directing one or more headlights of the third vehicleaccording to another collaborative lighting plan.

In block 906, the third vehicle processor may receive a fifthcollaborative lighting message 956 from the first vehicle. Receipt ofthe fifth collaborative lighting message 956 may indicate that the firstvehicle agrees to follow an amended collaborative lighting plan. In thisway, directing one or more of the headlights of the third vehicle inaccordance with the amended collaborative lighting plan may be inresponse to receiving the fifth collaborative lighting message 956.

In block 908, the third vehicle processor may direct one or more of theheadlights of the third vehicle in accordance with the amendedcollaborative lighting plan.

In some embodiments, the processors of the first, second and thirdvehicles may repeat any or all of the operations illustrated in FIG. 9to repeatedly or continuously direct one or more headlightscollaboratively according to a collaborative lighting plan until theplan is completed or cancelled by either vehicle.

FIG. 10A illustrates an environment 1000 in which two vehicles 100 a,100 b are using collaborative headlight directing. FIG. 10B illustratesthe same environment 1000, but with an additional vehicle 100 capproaching the other two vehicles 100 a, 100 b. With reference to FIGS.1-10A and 10B, the vehicle (e.g., 100) described above may represent anyor all of the vehicles 100 a, 100 b, 100 c. The environment 1000includes the two vehicle 100 a, 100 b in FIG. 10A and three vehicles 100a, 100 b, 100 c in FIG. 10B, one of which is traveling in an oppositedirection to the other two on a roadway 10 (i.e., a pathway). In theillustrated example, the roadway 10 is a three-lane road, with one lane(i.e., the furthest left lane in the orientation shown in FIGS. 10A and10B) dedicated to travel in one direction and two lanes (i.e., the tworight lanes in the orientation shown in FIGS. 10A and 10B). In addition,in FIGS. 10A and 10B an object 30 (illustrated as a galloping dear)located off to one side of the road and moving toward the roadway 10.Although the roadway 10 is illustrated as a paved highway, the methodsand systems of various embodiments may be applied to any pathway,whether or not it is a paved and/or clearly marked road.

With reference to FIG. 10A, the two vehicles 100 a, 100 b are travelingalong the roadway 10 in opposite directions. The first vehicle 100 a isillustrated as having directed its headlights 160 a toward a target areaof uncertainty 1010 in which the object is located or headed toward. Thesecond vehicle 100 b is illustrated as having its headlights 160 b aimedforward (i.e., in the direction of travel of the second vehicle 100 b).The roadway 10 is illustrated as including a streetlight 20 providingillumination in a lit region 25 that covers a portion of the roadway 10.

In accordance with various embodiments, either of the two vehicles 100a, 100 b may detect the target area of uncertainty 1010. Processors ofthe vehicles 100 a, 100 b may repeatedly, continuously, periodically, orotherwise scan the vehicle surroundings (i.e., on the roadway 10 andoff-road in the surrounding areas) for conditions in an area that mightbe considered a target area of uncertainty (e.g., 1010). In the exampleillustrated in FIG. 10A, the second vehicle 100 b first detected thetarget area of uncertainty 1010.

In response to the second vehicle 100 b detecting the target area ofuncertainty 1010, the second vehicle 100 b may transmit to the firstvehicle 100 a a first-vehicle collaborative lighting message via thewireless communication link 192. The first-vehicle collaborativelighting message may include a collaborative lighting plan that directsthe first vehicle 100 a to direct one or more of its headlights towardthe target area of uncertainty.

Once the first vehicle receives the first-vehicle collaborative lightingmessage, the first vehicle 100 a may check whether the first vehicle 100a can collaborate with the second vehicle 100 b, according to thecollaborative lighting plan. In particular, before directing one or moreof its headlights away from the roadway ahead, the first vehicle 100 amay assess the lighting conditions in the roadway ahead to determinewhether those roadway lighting conditions are above a minimumillumination threshold. The minimum illumination threshold for directinglights away from a roadway and toward a target area of uncertainty,located off the roadway, may be the same as the minimum illuminationthreshold used to determine whether an area is a target area ofuncertainty. Alternatively, the minimum illumination threshold fordirecting one or more headlights away from a roadway may be higher orlower than the minimum illumination threshold used to determine whetheran area is a target area of uncertainty. In the example illustrated inFIG. 10A, using an illumination sensor reading 1025, the second vehicle100 b processor may detect the lit region 25 that covers a portion ofthe roadway 10 ahead, which may be above the relevant minimumillumination threshold.

In response to a processor of the first vehicle 100 a determining thatthe first vehicle 100 a can collaborate with the second vehicle 100 baccording to the collaborative lighting plan, the first vehicle 100 amay direct one or more of the headlights of the first vehicle toilluminate the target area of uncertainty 1010 in accordance with thefirst-vehicle collaborative lighting message. Alternatively, in responseto determining that the first vehicle 100 a can collaborate with thesecond vehicle 100 b according to the collaborative lighting plan, thesecond vehicle 100 b may transmit to the first vehicle 100 a asecond-vehicle collaborative lighting message via the wirelesscommunication link 192. The second-vehicle collaborative lightingmessage may indicate that the first vehicle 100 a can collaborate withthe second vehicle 100 b according to the collaborative lighting plan.Receipt of the second-vehicle collaborative lighting message by thesecond vehicle 100 b may indicate to the second vehicle 100 b that thefirst vehicle agrees to follow the initial collaborative lighting plan.

Various embodiments illustrated and described are provided merely asexamples to illustrate various features of the claims. However, featuresshown and described with respect to any given embodiment are notnecessarily limited to the associated embodiment and may be used orcombined with other embodiments that are shown and described. Further,the claims are not intended to be limited by any one example embodiment.

In the example illustrated in FIG. 10B, the third vehicle 100 c istrailing close behind the first vehicle 100 a, just as the first vehicle100 a is about to pass the second vehicle 100 b. In some embodiments, aprocessor of the first vehicle 100 a, detecting the third vehicle 100 cfollowing closely behind, may attempt to enlist collaborative lightingassistance from the third vehicle. Since the initial collaborativelighting plan transmitted by the second vehicle 100 b has the firstvehicle directing its headlights away from the roadway 10, the firstvehicle 100 a may request that the third vehicle 100 c maintain orincrease an illumination level of a roadway area in the direction oftravel of the first vehicle. For example, the third vehicle 100 c mayput on its high-beams, or if available, narrow and extend the beam-widthof its headlights to increase the illumination level in a portion of theroadway 10 that is further ahead. Thus, the first vehicle 100 a maytransmit a third-vehicle collaborative lighting message to the thirdvehicle 100 c that asks the third vehicle 100 c to maintain or increasean illumination level of a roadway area in the direction of travel ofthe first vehicle 100 a.

Once the third vehicle receives the third-vehicle collaborative lightingmessage, the third vehicle 100 c may check whether the third vehicle 100c can collaborate with the first vehicle 100 a as requested. In responseto the third vehicle 100 c determining that it can collaborate with thefirst vehicle 100 a according to an extended collaborative lightingplan, the third vehicle 100 c may transmit to the first vehicle 100 a acollaborative lighting message via the wireless communication link 192,which agrees to comply with the third-vehicle collaborative lightingmessage. The third vehicle 100 c may then maintain or increase anillumination level of a roadway area in the direction of travel of thefirst vehicle using one or more of the headlights 160 c of the thirdvehicle 100 c. Once the first vehicle receives the collaborativelighting message response from the third vehicle, the first vehicle 100a may direct one or more of the headlights of the first vehicle toilluminate the target area in accordance with the first-vehiclecollaborative lighting message and both the initial and extendedcollaborative lighting plans.

FIGS. 11A, 11B, 11C, 12A, 12B, 12C, 13A, 13B, 13C, and/or 14 illustrateoperations of methods 1100, 1103, 1105, 1200, 1203, 1205, and 1207,respectively, for collaborative headlight directing between vehicles inaccordance with various embodiments. With reference to FIGS. 1A-14, themethods 1100, 1103, 1105, 1200, 1203, 1205, and 1207 may be implementedin a processor (e.g., 164), a processing device (e.g., 300), and/or acontrol unit (e.g., 104) (variously referred to as a “processor”) of avehicle (e.g., 100, 100 a, 100 b, or 100 c). In some embodiments, themethods 1100, 1103, 1105, 1200, 1203, 1205, and 1207 may be performed byone or more layers within a vehicle management system stack, such as avehicle management system (e.g., 200, 250), etc. In some embodiments,the methods 1100, 1103, 1105, 1200, 1203, 1205, and 1207 may beperformed by a processor independently from, but in conjunction with, avehicle control system stack, such as the vehicle management system. Forexample, the methods 1100, 1103, 1105, 1200, 1203, 1205, and 1207 may beimplemented as a stand-alone software module or within dedicatedhardware that monitors data and commands from/within the vehiclemanagement system and is configured to take actions and store data asdescribed.

FIGS. 11A, 13A, 13B, 13C, and 14 illustrate a method 1100 ofcollaborative headlight directing between vehicles in accordance withvarious embodiments. Operations of the method 1100 are also illustratedin FIGS. 13A, 13B, 13C, and 14 which show interactions between a firstvehicle 100 a implementing the method 1100 and another (i.e., second)vehicle 100 b implementing the method 1200 illustrated in FIGS. 12A,12B, and 12C. Operations in the blocks shown in FIGS. 13A, 13B, 13C, 14correspond to the operations of methods 1100 and 1200 for like numberedblocks described below.

In block 1102, a first vehicle processor may receive a first-vehiclecollaborative lighting message 1252 from a second vehicle. Thefirst-vehicle collaborative lighting message 1252 may request that thefirst vehicle direct one or more headlights of the first vehicleaccording to a collaborative lighting plan to illuminate a target areaof uncertainty that is disposed, relative to the first vehicle, in adirection other than a direction of travel of the first vehicle. Thefirst-vehicle collaborative lighting message 1252 may include locationidentification information of the target area for directing one or moreof the headlights of the first vehicle. In addition or alternatively,the first-vehicle collaborative lighting message 1252 may include timinginformation for the request to illuminate the target area. Thefirst-vehicle collaborative lighting message 1252 may have been sent bythe second vehicle as a warning to the first vehicle related to apotential threat to the first vehicle located in the target area. Thefirst-vehicle collaborative lighting message 1252 may include acollaborative lighting plan in which the second vehicle directsheadlights of the second vehicle to illuminate a roadway area in thedirection of travel of the first vehicle.

The first and second vehicles may be traveling in opposite directions, asame direction, or a different direction, depending upon thecircumstances. The target area of uncertainty may represent an area ofuncertainty about which the second vehicle is seeking more informationto identify elements contained therein.

In block 1110, the first vehicle processor may direct one or more of theheadlights of the first vehicle to illuminate the target area inaccordance with the first-vehicle collaborative lighting message.

In some embodiments, the processor may repeat the operations in blocks1102 and 1110 to periodically or continuously direct one or moreheadlights collaboratively according to a collaborative lighting planuntil the plan is completed or cancelled by either vehicle.

FIGS. 11B, 13A, 13B, 13C, and 14 illustrate a method 1103 ofcollaborative headlight directing between vehicles in accordance withsome embodiments.

In block 1104, following the operations of block 1102 in the method1100, the processor of the first vehicle may determine whether the firstvehicle can direct one or more headlights of the first vehicle toilluminate the target area of uncertainty that is disposed in adirection other than a direction of travel of the first vehicle.Following the operations in block 1104, the processor may perform theoperations in block 1110 as described.

In some embodiments, the processor may repeat the operations in block1104 repeatedly or continuously according to a collaborative lightingplan until the plan is completed or cancelled by either vehicle.

FIGS. 11C and 14 illustrate a method 1105 of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 1112, following the operations of blocks 1102 or 1104 in themethods 1100 or 1103, respectively, the first vehicle processor mayperform operations including determining whether a third vehicle isavailable for performing collaborative lighting.

In block 1114, the first vehicle processor may use a transceiver (e.g.,180) to transmit a third-vehicle collaborative lighting message 1452 toa third vehicle with a collaborative lighting request. The third-vehiclecollaborative lighting message 1452 may request that the third vehiclemaintain or increase an illumination level of a roadway area in thedirection of travel of the first vehicle.

In block 1116, the first vehicle processor using the transceiver mayreceive agreement 1454 from the third vehicle to the collaborativelighting request 1452 transmitted in block 1114. Following theoperations in block 1116, the processor may perform the operations inblock 1110 as described.

In some embodiments, the processor may repeat any or all of theoperations in blocks 1112, 1114, and 1116 to repeatedly or continuouslydirect one or more headlights collaboratively according to acollaborative lighting plan until the plan is completed or cancelled byeither vehicle.

FIGS. 12A, 13A, 13B, 13C, and 14 illustrate a method 1200 ofcollaborative headlight directing between vehicles in accordance withsome embodiments.

In block 1202, a processor of the second vehicle may detect a targetarea of uncertainty for which additional illumination is needed for acamera system to reduce an assessed uncertainty level. Detecting thetarget area of uncertainty may include detecting an object moving towarda roadway on which the first vehicle is traveling. In embodiments,detecting the target area of uncertainty may include determining acondition of interest exists in the area, determining that the lightingcondition in the area are below the minimum illumination threshold, anddetermining that one or more other vehicles is in the region that may beable to assist in providing additional lighting.

The first and second vehicles may be traveling in opposite directions, asame direction, or a different direction, depending upon thecircumstances. The target area of uncertainty may represent an area ofuncertainty about which the second vehicle is seeking more informationto identify elements contained therein. The target area of uncertaintymay not be located on the roadway traveled by the second vehicle.

In block 1204, the second vehicle processor may use a transceiver (e.g.,180) to transmit to the first vehicle the first-vehicle collaborativelighting message 1252. The first-vehicle collaborative lighting message1252 may request that the first vehicle direct one or more headlights ofthe first vehicle to illuminate the target area of uncertainty that isdisposed, relative to the first vehicle, in a direction other than adirection of travel of the first vehicle. The first-vehiclecollaborative lighting message 1252 may include a collaborative lightingplan that includes the first and second vehicles collaborativelydirecting one or more headlights to illuminate the target area ofuncertainty. Alternatively or additionally, first-vehicle collaborativelighting message 1252 may include a collaborative lighting plan thatincludes the second vehicle illuminating the roadway in a direction oftravel of the second vehicle.

In some embodiments, the processor may repeat the operations in blocks1202 and 1204 to periodically or continuously direct one or moreheadlights collaboratively according to a collaborative lighting planuntil the plan is completed or cancelled by either vehicle.

FIGS. 12B, 13A, 13B, and 13C illustrate a method 1103 of collaborativeheadlight directing between vehicles in accordance with someembodiments.

In block 1206, following the operations of block 1204 in the method1203, the processor of the second vehicle may use the transceiver (e.g.,180) to receive a second collaborative lighting message 1254 from thefirst vehicle. The second collaborative lighting message 1254 mayrequest that the second vehicle direct one or more headlights of thesecond vehicle to illuminate a roadway in a direction of travel of thefirst vehicle. In some circumstances, having the second vehicleilluminate the roadway for the first vehicle may enable the firstvehicle to direct one or more of its headlights away from its directionof travel and towards a target are of uncertainty while receivingsufficient illumination of the roadway to navigate safely.

In optional block 1208, the processor of the second vehicle may use thetransceiver to transmit to the first vehicle a first-vehiclecollaborative lighting message 1256 requesting that the first vehicledirect one or more headlights of the first vehicle to illuminate thetarget area of uncertainty that is disposed, relative to the firstvehicle, in a direction other than a direction of travel of the firstvehicle.

In some embodiments, the processor may repeat the operations in block1206 and optional block 1208 to periodically or continuously direct oneor more headlights collaboratively according to a collaborative lightingplan until the plan is completed or cancelled by either vehicle.

FIGS. 12C, 13A, and 13B, and illustrate a method 1205 of collaborativeheadlight directing between vehicles in accordance with someembodiments.

In block 1210, following the operations of any one of blocks 1204, 1206,or 1208 in the methods 1200 or 1203, the processor of the second vehiclemay direct one or more of the headlights of the second vehicle toilluminate a roadway area in the direction of travel of the firstvehicle.

In some embodiments, the processor may repeat the operations in block1210 to periodically or continuously direct one or more headlightscollaboratively according to a collaborative lighting plan until theplan is completed or cancelled by either vehicle.

FIGS. 12D and 13C illustrate a method 1207 of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 1212, following the operations of block 1204 in the method1200, the processor of the second vehicle using the transceiver (e.g.,180) may receive a second collaborative lighting message 1258 from thefirst vehicle. The second collaborative lighting message 1258 mayinclude a counter-proposal in which the first vehicle proposes to directone or more headlights of the first vehicle to illuminate the roadway ina direction of travel of the second vehicle and requests the secondvehicle to direct one or more headlights of the second vehicle toilluminate the target area of uncertainty.

In block 1216, the processor of the second vehicle may direct one ormore of the headlights of the second vehicle to illuminate the targetarea of uncertainty.

In some embodiments, the processor may repeat the operations in blocks1212 and 1216 to periodically or continuously direct one or moreheadlights collaboratively according to a collaborative lighting planuntil the plan is completed or cancelled by either vehicle.

FIG. 13B illustrates an addition operation of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 1106, following the operations of block 1104 in the method1103, the processor of the first vehicle may use the transceiver (e.g.,180) to transmit a second vehicle collaborative lighting message 1254 tothe second vehicle. The second collaborative lighting message 1254 mayrequest that the second vehicle direct one or more headlights of thesecond vehicle to illuminate a roadway in a direction of travel of thefirst vehicle.

In optional block 1108, the processor of the first vehicle using thetransceiver (e.g., 180) may receive another first-vehicle collaborativelighting message 1256 from the second vehicle. The other first-vehiclecollaborative lighting message 1256 may request that the first vehicledirect one or more headlights of the first vehicle to illuminate thetarget area of uncertainty that is disposed, relative to the firstvehicle, in a direction other than a direction of travel of the firstvehicle. Following the operations in optional block 1108, the processormay follow the operations in block 1110 described above.

FIG. 14 illustrates addition elements of collaborative headlightdirecting between vehicles in accordance with some embodiments.

In block 1402, the processor of the third vehicle using the transceiver(e.g., 180) may receive a third-vehicle collaborative lighting message1452 from the first vehicle. The third-vehicle collaborative lightingmessage 1452 may request that the third vehicle maintain or increase anillumination level of a roadway area in the direction of travel of thefirst vehicle.

In block 1404, the third vehicle processor using the transceiver maytransmit to the first vehicle an agreement 1454 to the collaborativelighting request 1452 received in block 1402.

In block 1406, the third vehicle processor may direct one or more of theheadlights of the third vehicle in accordance with the collaborativelighting request.

In some embodiments, the processors of the first, second and thirdvehicles may repeat any or all of the operations illustrated in FIG. 14to repeatedly or continuously direct one or more headlightscollaboratively according to a collaborative lighting plan until theplan is completed or cancelled by either vehicle.

FIG. 15A illustrates an environment 1500 in which six vehicles 100 a,100 b, 100 c, 100 d, 100 e, 100 f clustered together traveling in aplatoon. FIGS. 15B and 15C illustrate the same environment 1500, butwith the six vehicles 100 a, 100 b, 100 c, 100 d, 100 e, 100 f in theplatoon using collaborative headlight directing, in accordance with someembodiments. With reference to FIGS. 1-15C, the vehicle (e.g., 100) mayrepresent any or all of the vehicles 100 a, 100 b, 100 c. In theenvironment 1500, the six vehicles 100 a, 100 b, 100 c, 100 d, 100 e,100 f in the platoon are traveling on a roadway 15 in the same directionand grouped together in a cluster. The roadway 15 is a three-lane road,with all lanes dedicated to travel in the same direction. Although theroadway 15 is illustrated as a paved highway, the methods and systems ofvarious embodiments may be applied to any pathway, whether or not it isa paved and/or clearly marked road.

Any one of the six vehicles 100 a, 100 b, 100 c, 100 d, 100 e, 100 f maybe configured to be the leader of the platoon 1510. For example, thefirst vehicle 100 a may be the leader, although the leader does not haveto be a lead vehicle. During formation of the platoon 1510, the vehicles100 a, 100 b, 100 c, 100 d, 100 e, 100 f may exchange formation messageswith each other and particularly with the leader. The leader may compilethe vehicle data received in the formation messages to assign platoonpositions to each vehicle and determine other elements to enable safevehicle operations as a platoon. In addition, in low lightingconditions, the leader may determine a collaborative lighting plantransmitted to the other vehicles 100 b, 100 c, 100 d, 100 e, 100 f ofthe platoon.

In the example illustrated in FIG. 15A, each of the vehicles 100 a, 100b, 100 c, 100 d, 100 e, 100 f has their headlights 160 a, 160 b, 160 c,160 d, 160 e, 160 f aimed forward in the direction of travel of theplatoon 1510. For example, a central beam 165 a, 165 b from each of thefirst and second headlights 160 a, 160 b extends in-line with theroadway 15. With the central beams of all headlights 160 a, 160 b, 160c, 160 d, 160 e, 160 f extending in-line with the roadway 15, the beamsoverlap and are redundant. Thus, the leader may determine acollaborative lighting plan for improving the collective illuminationprovided by the platoon 1510, making the illumination more efficientand/or covering more areas.

When a platoon is organized, a plurality of the positions may beperimeter positions that define the outer boundaries of the platoon. Forexample, the first, second, third, fifth, and sixth vehicles 100 a, 100b, 100 c, 100 e, 100 f are shown in perimeter positions. If a platoon iswide enough, the platoon may include one or more central positionssurrounded by other platoon vehicles. For example, the fourth vehicle100 d is in a central position and not in one of the plurality ofperimeter positions.

In the example illustrated in FIG. 15B, each of the vehicles 100 a, 100b, 100 c, 100 d, 100 e, 100 f is directing their headlights 160 a, 160b, 160 c, 160 d, 160 e, 160 f in accordance with a collaborativelighting plan. This particular collaborative lighting plan has allvehicles 100 a, 100 b, 100 c, 100 d, 100 e, 100 f collectively spreadingout the illumination of the combination of headlights 160 a, 160 b, 160c, 160 d, 160 e, 160 f. In this way, each of the vehicles 100 a, 100 b,100 c, 100 d, 100 e, 100 f is directing one or more of their respectiveheadlights 160 a, 160 b, 160 c, 160 d, 160 e, 160 f in a direction otherthan a direction of travel of the platoon. For example, the centralbeams 165 a, 165 b from the first and second headlights 160 a, 160 bdiverge from one another, no longer extending in-line with the roadway15.

In the example illustrated in FIG. 15C, only the three vehicles 100 a,100 b, 100 c leading in each lane of the roadway 15 have theirheadlights 160 a, 160 b, 160 c on, in accordance with a conservingcollaborative lighting plan. The remaining vehicles 100 d, 100 e, 100 fhave their headlights 160 d, 160 e, 160 f dimmed or turned off. Thisconserving collaborative lighting plan may conserve power for the threerear vehicles 100 d, 100 e, 100 f and generates less wasted light orlight pollution. In addition, this conserving collaborative lightingplan may direct the three lead vehicles 100 a, 100 b, 100 c tocollaborate by directing one or more of their respective headlights 160a, 160 b, 160 c out to collectively illuminate more of the roadway 15and areas immediately adjacent the roadway 15.

FIGS. 16A, 16B, 16C, 16D, 16E, 16F, 17A, 17B, 17C, and/or 18 illustrateoperations of methods 1600, 1603, 1605, 1607, 1609, 1611, 1700, 1703,and 1705, respectively, for collaborative headlight directing betweenvehicles in accordance with various embodiments. With reference to FIGS.1A-18, the methods 1600, 1603, 1605, 1607, 1609, 1611, 1700, 1703, and1705 may be implemented in a processor (e.g., 164), a processing device(e.g., 300), and/or a control unit (e.g., 104) (variously referred to asa “processor”) of a vehicle (e.g., 100, 100 a, 100 b, or 100 c). In someembodiments, the methods 1600, 1603, 1605, 1607, 1609, 1611, 1700, 1703,and 1705 may be performed by one or more layers within a vehiclemanagement system stack, such as a vehicle management system (e.g., 200,250), etc. In some embodiments, the methods 1600, 1603, 1605, 1607,1609, 1611, 1700, 1703, and 1705 may be performed by a processorindependently from, but in conjunction with, a vehicle control systemstack, such as the vehicle management system. For example, the methods1600, 1603, 1605, 1607, 1609, 1611, 1700, 1703, and 1705 may beimplemented as a stand-alone software module or within dedicatedhardware that monitors data and commands from/within the vehiclemanagement system and is configured to take actions and store data asdescribed.

FIG. 16A illustrates a method 1600 of collaborative headlight directingbetween vehicles within a platoon in accordance with some embodiments.Operations of the method 1600 are also illustrated in FIG. 18 whichshows interactions between a first vehicle 100 a implementing the method1600 and another (i.e., second) vehicle 100 b implementing the method1700 illustrated in FIG. 17A. Operations in the blocks shown in FIG. 18correspond to the operations of like numbered blocks in the methods 1600and 1700 described below.

In block 1606, a first vehicle processor of a first vehicle 100 atraveling in a platoon may transmit a collaborative lighting plan to asecond vehicle 100 b traveling in the platoon. The collaborativelighting plan may be transmitted to the second vehicle 100 b via acollaborative lighting message 1825 b. Similarly, as illustrated in FIG.18, the collaborative lighting plan may be transmitted to the third,fourth, fifth, and sixth vehicles 100 c, 100 d, 100 e, 100 f in theplatoon via collaborative lighting messages 1825 c, 1825 d, 1825 e, 1825f, respectively. The collaborative lighting plan may direct the secondvehicle 100 b to direct one or more headlights of the second vehicle 100b in a direction other than a direction of travel of the platoon. Inresponse to receiving the collaborative lighting plan, each of thefollower vehicles 100 b, 100 c, 100 d, 100 e, 100 f may acknowledgereceipt and acceptance of the collaborative lighting plan bytransmitting collaborative lighting messages 1830 b, 1830 c, 1830 d,1830 e, 1830 f, respectively.

In block 1608, the first vehicle processor, may direct one or more ofthe headlights of the first vehicle 100 a in accordance with thecollaborative lighting plan.

In some embodiments, the processor may repeat the operations in blocks1606 and 1608 to periodically or continuously direct one or moreheadlights collaboratively according to a collaborative lighting planuntil the plan is completed or cancelled by either vehicle or a platoonleader.

FIG. 16B illustrates a method 1603 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.

Operations of the method 1603 are also illustrated in FIG. 18 whichshows interactions between a first vehicle 100 a implementing the method1603 and other vehicles 100 b, 100 c, 100 d, 100 e, 100 f (i.e., asecond vehicle) implementing the method 1703 illustrated in FIG. 17B.Operations in the blocks shown in FIG. 18 correspond to the operationsof like numbered blocks in the methods 1603 and 1703 described below.

In block 1602, a first vehicle processor of a first vehicle 100 atraveling in a platoon may receive, from a second vehicle 100 b via acollaborative lighting message 1805 b, location information of thesecond vehicle 100 b for determining a position of the second vehicle100 b within the platoon. Similarly, the first vehicle processor mayreceive location information from the third, fourth, fifth, and sixthvehicles 100 c, 100 d, 100 e, 100 f via collaborative lighting messages1805 c, 1805 d, 1805 e, 1805 f, respectively. In response to receivingthe location information, the first vehicle processor may compilevehicle data in block 1810.

In block 1604, the first vehicle processor, may determine thecollaborative lighting plan based on the received location information.Following the operations in block 1604, the first vehicle processor mayperform the operations in block 1606 of the method 1600 as described.

In some embodiments, the processor may repeat the operations in blocks1602 and 1604 to periodically or continuously update the collaborativelighting plan until the plan is completed or cancelled by any vehicle.

FIG. 16C illustrates a method 1605 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.

Operations of the method 1605 are also illustrated in FIG. 18 whichshows interactions between a first vehicle 100 a implementing the method1605 and other vehicles 100 b, 100 c, 100 d, 100 e, 100 f (i.e., asecond vehicle) implementing the method 1705 illustrated in FIG. 17C.Operations in the blocks shown in FIG. 18 correspond to the operationsof like numbered blocks in the methods 1605 and 1705 described below.

Following the operations of block 1604, a first vehicle processor of afirst vehicle 100 a traveling in a platoon may determining whetheranother vehicle (i.e., a second vehicle) in the platoon is positioned inone of a plurality of perimeter positions of the platoon in block 1610and determination block 1615.

In response to determining that the second vehicle in the platoon ispositioned in one of a plurality of perimeter positions of the platoon(i.e., determination block 1615=“Yes”), the first vehicle processor mayperform the operations in block 1606 of the method 1600 as described.

In response to determining that the second vehicle in the platoon is notin a perimeter position, and thus is in a central position (i.e.,determination block 1615=“No”), the processor may update thecollaborative lighting plan to direct the vehicle that is not in one ofthe perimeter positions to dim or turn off one or more of the headlightsof the vehicle in block 1612. Following the operations in block 1612,the first vehicle processor may perform the operations in block 1606 ofthe method 1600 as described.

In some embodiments, the processor may repeat the operations in block1610, determination block 1615, and block 1612 to periodically orcontinuously update the collaborative lighting plan until the plan iscompleted or cancelled by any vehicle.

FIG. 16D illustrates a method 1607 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.

Operations of the method 1607 are also illustrated in FIG. 18 whichshows interactions between a first vehicle 100 a implementing the method1607 with other vehicles 100 b, 100 c, 100 d, 100 e, 100 f (i.e., asecond vehicle). Operations in the blocks shown in FIG. 18 correspond tothe operations of like numbered blocks in the method 1607 describedbelow.

In block 1614, a first vehicle processor of a first vehicle 100 atraveling in a platoon may collaborate with a second vehicle 100 b byexchanging one or more collaborative lighting messages 1815 b, todetermine the collaborative lighting plan. Similarly, the first vehicleprocessor of a first vehicle 100 a may collaborate with any and all ofthe other vehicles 100 c, 100 d, 100 e, 100 f, by exchanging one or morecollaborative lighting messages 1815 c, 1815 d, 1815 e, 1815 f,respectively, to determine the collaborative lighting plan. Each of thevehicles 100 a, 100 b, 100 c, 100 d, 100 e, 100 f of the platoon mayexchange more than one collaborative lighting message 1815 b, 1815 c,1815 d, 1815 e, 1815 f before the first vehicle processor determines thecollaborative lighting plan in block 1820.

In some embodiments, the processor may repeat the operations in block1614 to periodically or continuously update the collaborative lightingplan until the plan is completed or cancelled by any vehicle.

FIG. 16E illustrates a method 1609 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.Operations of the method 1609 are also illustrated in FIG. 18 whichshows interactions between a first vehicle 100 a implementing the method1609 and other vehicles 100 b, 100 c, 100 d, 100 e, 100 f (i.e., asecond vehicle) implementing the method 1705 illustrated in FIG. 17C.Operations in the blocks shown in FIG. 18 correspond to the operationsof like numbered blocks in the methods 1609 and 1705 described below.

In block 1616, following the operations of block 1608 described above, afirst vehicle processor of a first vehicle 100 a traveling in a platoonmay receive from the second vehicle 100 b a request to change thecollaborative lighting plan.

In block 1618 and determination block 1619, the first vehicle processormay determine whether to change the collaborative lighting plan based onthe received request from the second vehicle 100 b.

In response to determining that collaborative lighting plan should bechanged (i.e., determination block 1619=“Yes”), the processor may updatethe collaborative lighting plan based on the received request in block1620. Following the operations in block 1620 or in response todetermining that the collaborative lighting plan need not be changed(i.e., determination block 1619=“No”), the processor may perform theoperations in block 1606 of the method 1600 as described. In this way,the first vehicle processor may transmit an updated collaborativelighting plan via collaborative lighting messages 1825 b′, 1825 c′, 1825d′, 1825 e′, 1825 f to the other vehicles 100 b, 100 c, 100 d, 100 e,100 f traveling in the platoon. Also, in response to receiving theupdated collaborative lighting plan, each of the follower vehicles 100b, 100 c, 100 d, 100 e, 100 f may acknowledge receipt and acceptance ofthe updated collaborative lighting plan by transmitting a collaborativelighting messages 1830 b, 1830 c, 1830 d, 1830 e, 1830 f, respectively.

In some embodiments, the processor may repeat the operations in blocks1616, 1618, determination block 1619, and block 1620 to periodically orcontinuously update the collaborative lighting plan until the plan iscompleted or cancelled by any vehicle.

FIG. 16F illustrates a method 1611 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.

Operations of the method 1611 are also illustrated in FIG. 18 whichshows interactions between a first vehicle 100 a implementing the method1611 with other vehicles 100 b, 100 c, 100 d, 100 e, 100 f (i.e., asecond vehicle). Operations in the blocks shown in FIG. 18 correspond tothe operations of like numbered blocks in the method 1611 describedbelow.

In block 1622, following the operations in block 1604 or 1608 describedabove, a first vehicle processor of a first vehicle 100 a traveling in aplatoon may determine an update to the collaborative lighting plan inresponse to determining that a vehicle has joined or left the platoon.Following the operations in block 1622, the processor may perform theoperations in block 1606 of the method 1600 as described.

In some embodiments, the processor may repeat the operations in block1622 to periodically or continuously update the collaborative lightingplan until the plan is completed or cancelled by any vehicle.

FIG. 17A illustrates a method 1700 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.

Operations of the method 1700 are also illustrated in FIG. 18 whichshows interactions between a second vehicle 100 b implementing themethod 1700 and a lead vehicle (i.e., a first vehicle) 100 aimplementing the method 1600 illustrated in FIG. 16A. Operations in theblocks shown in FIG. 18 correspond to the operations of like numberedblocks in the methods 1600 and 1700 as described.

In block 1704, a second vehicle processor of a second vehicle 100 btraveling in a platoon may receive a collaborative lighting plan (via acollaborative lighting message 1825 b) from a vehicle in the platoon,such as the lead vehicle 100 a of the platoon. The collaborativelighting plan may direct the second vehicle 100 b to direct one or moreheadlights of the second vehicle 100 b in a direction other than adirection of travel of the platoon.

In block 1712, the second vehicle processor, may direct one or more ofthe headlights of the second vehicle 100 b in accordance with thecollaborative lighting plan.

In some embodiments, the processor may repeat the operations in blocks1704 and 1712 to periodically or continuously direct one or moreheadlights collaboratively according to a collaborative lighting planuntil the plan is completed or cancelled by either vehicle.

FIG. 17B illustrates a method 1703 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.

Operations of the method 1703 are also illustrated in FIG. 18 whichshows interactions between a second vehicle 100 b implementing themethod 1703 and a lead vehicle 100 a (i.e., a first vehicle)implementing the method 1603 illustrated in FIG. 16B. Operations in theblocks shown in FIG. 18 correspond to the operations of like numberedblocks in the methods 1603 and 1703 as described.

In block 1702, a second vehicle processor of a second vehicle 100 btraveling in a platoon may transmit location information of the secondvehicle 100 b that is sufficient to identify a position of the secondvehicle 100 b within the platoon. The location information transmittedby the second vehicle processor may be absolute coordinates (e.g.,defined by a global position system receiver) plus direction and speed,and/or relative distances to other vehicles in the platoon (e.g.,determined by radar, lidar or camera sensors). The location informationshould be configured to provide sufficient information to enable thefirst vehicle processor to determine the position of the second vehiclewithin the platoon. Following the operations in block 1702, the secondvehicle processor may perform the operations in block 1704 of the method1700 as described.

In some embodiments, the processor may repeat the operations in block1702 until the plan is completed or cancelled by any vehicle.

FIG. 17C illustrates a method 1705 of collaborative headlight directingbetween vehicles in a platoon in accordance with some embodiments.Operations of the method 1705 are also illustrated in FIG. 18 whichshows interactions between a second vehicle 100 b implementing themethod 1705 and a lead vehicle 100 a (i.e., a first vehicle)implementing the method 1609 illustrated in FIG. 16E. Operations in theblocks shown in FIG. 18 correspond to the operations of like numberedblocks in the methods 1609 and 1705 as described.

Following the operations of block 1704 described above, a second vehicleprocessor of a second vehicle 100 b traveling in a platoon may determinewhether the second vehicle 100 b can comply with the collaborativelighting plan (i.e., a “Noncompliance Determination”) in block 1706 anddetermination block 1707.

In response to determining that the second vehicle 100 b cannot complywith the collaborative lighting plan (i.e., determination block1707=“No”), the processor may transmit to the first vehicle via acollaborative lighting message 1845 b a request to change thecollaborative lighting plan in block 1708.

In block 1710, the second vehicle processor of the second vehicle 100 bmay receive from the first vehicle 100 a an update to the collaborativelighting plan.

In response to determining that the second vehicle 100 b can comply withthe collaborative lighting plan (i.e., determination block 1707=“Yes”)or following receipt of an updated collaborative lighting plan in block1710, the processor may perform the operations in block 1712 of themethod 1700 as described.

In some embodiments, the processor may repeat the operations in blocks1706, 1708, 1710 and determination block 1707 until the plan iscompleted or cancelled by any vehicle.

The foregoing method descriptions and the process flow diagrams areprovided merely as illustrative examples and are not intended to requireor imply that the blocks of various embodiments must be performed in theorder presented. As will be appreciated by one of skill in the art theorder of blocks in the foregoing embodiments may be performed in anyorder. Words such as “thereafter,” “then,” “next,” etc. are not intendedto limit the order of the blocks; these words are simply used to guidethe reader through the description of the methods. Further, anyreference to claim elements in the singular, for example, using thearticles “a,” “an” or “the” is not to be construed as limiting theelement to the singular.

The various illustrative logical blocks, modules, circuits, andalgorithm blocks described in connection with the embodiments disclosedherein may be implemented as electronic hardware, computer software, orcombinations of both. To clearly illustrate this interchangeability ofhardware and software, various illustrative components, blocks, modules,circuits, and blocks have been described above generally in terms oftheir functionality. Whether such functionality is implemented ashardware or software depends upon the particular application and designconstraints imposed on the overall system. Skilled artisans mayimplement the described functionality in varying ways for eachparticular application, but such embodiment decisions should not beinterpreted as causing a departure from the scope of variousembodiments.

The hardware used to implement the various illustrative logics, logicalblocks, modules, and circuits described in connection with theembodiments disclosed herein may be implemented or performed with ageneral-purpose processor, a digital signal processor (DSP), anapplication specific integrated circuit (ASIC), a field programmablegate array (FPGA) or other programmable logic device, discrete gate ortransistor logic, discrete hardware components, or any combinationthereof designed to perform the functions described herein. Ageneral-purpose processor may be a microprocessor, but, in thealternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of communication devices, e.g., acombination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration. Alternatively, some blocks ormethods may be performed by circuitry that is specific to a givenfunction.

In various embodiments, the functions described may be implemented inhardware, software, firmware, or any combination thereof. If implementedin software, the functions may be stored as one or more instructions orcode on a non-transitory computer-readable medium or non-transitoryprocessor-readable medium. The operations of a method or algorithmdisclosed herein may be embodied in a processor-executable softwaremodule, which may reside on a non-transitory computer-readable orprocessor-readable storage medium. Non-transitory computer-readable orprocessor-readable storage media may be any storage media that may beaccessed by a computer or a processor. By way of example but notlimitation, such non-transitory computer-readable or processor-readablemedia may include RAM, ROM, EEPROM, FLASH memory, CD-ROM or otheroptical disk storage, magnetic disk storage or other magnetic storagedevices, or any other medium that may be used to store desired programcode in the form of instructions or data structures and that may beaccessed by a computer. Disk and disc, as used herein, includes compactdisc (CD), laser disc, optical disc, digital versatile disc (DVD),floppy disk, and Blu-ray disc where disks usually reproduce datamagnetically, while discs reproduce data optically with lasers.Combinations of the above are also included within the scope ofnon-transitory computer-readable and processor-readable media.Additionally, the operations of a method or algorithm may reside as oneor any combination or set of codes and/or instructions on anon-transitory processor-readable medium and/or computer-readablemedium, which may be incorporated into a computer program product.

The preceding description of the disclosed embodiments is provided toenable any person skilled in the art to make or use the presentembodiments. Various modifications to these embodiments will be readilyapparent to those skilled in the art, and the generic principles definedherein may be applied to other embodiments without departing from thescope of the embodiments. Thus, various embodiments are not intended tobe limited to the embodiments shown herein but are to be accorded thewidest scope consistent with the following claims and the principles andnovel features disclosed herein.

What is claimed is:
 1. A method of collaboratively directing headlightsby two or more vehicles, comprising: receiving, by a processor of afirst vehicle, a first vehicle collaborative lighting message from asecond vehicle, wherein the first vehicle collaborative lighting messagerequests that the first vehicle direct one or more headlights of thefirst vehicle to illuminate a target area of uncertainty that isdisposed, relative to the first vehicle, in a direction other than adirection of travel of the first vehicle; and directing, by theprocessor, one or more of the headlights of the first vehicle toilluminate the target area in accordance with the first vehiclecollaborative lighting message.
 2. The method of claim 1, wherein thefirst vehicle collaborative lighting message includes locationidentification information of the target area for directing one or moreheadlights of the first vehicle.
 3. The method of claim 1, wherein thefirst vehicle collaborative lighting message includes timing informationfor when to illuminate the target area.
 4. The method of claim 1,wherein the target area of uncertainty represents an area of uncertaintyabout which the second vehicle is seeking more information to identifyan object contained therein.
 5. The method of claim 1, wherein the firstvehicle collaborative lighting message was sent by the second vehicle asa warning to the first vehicle related to a potential threat to thefirst vehicle located in the target area.
 6. The method of claim 1,wherein the first vehicle collaborative lighting message includes acollaborative lighting plan in which the second vehicle directs one ormore headlights of the second vehicle to illuminate a roadway area inthe direction of travel of the first vehicle.
 7. The method of claim 1,further comprising: determine, by the processor, whether the firstvehicle can direct one or more headlights of the first vehicle toilluminate the target area of uncertainty that is disposed in thedirection other than the direction of travel of the first vehicle,wherein directing one or more of the headlights of the first vehicle toilluminate the target area is performed in response to determining thefirst vehicle can direct one or more headlights of the first vehicle toilluminate the target area of uncertainty.
 8. The method of claim 1,further comprising: transmitting, by the processor, a third vehiclecollaborative lighting message to a third vehicle, wherein the thirdvehicle collaborative lighting message requests that the third vehiclemaintain or increase an illumination level of a roadway area in thedirection of travel of the first vehicle.
 9. A method of collaborativelydirecting one or more headlights by two or more vehicles, comprising:detecting, by a processor of a second vehicle, a target area ofuncertainty for which additional illumination is needed to reduce anassessed uncertainty level; and transmitting, to a first vehicle by theprocessor, a first vehicle collaborative lighting message that requeststhat the first vehicle direct one or more headlights of the firstvehicle to illuminate the target area of uncertainty that is disposed,relative to the first vehicle, in a direction other than a direction oftravel of the first vehicle.
 10. The method of claim 9, furthercomprising: directing, by the processor, one or more headlights of thesecond vehicle to illuminate a roadway area in the direction of travelof the first vehicle.
 11. The method of claim 9, wherein the firstvehicle collaborative lighting message includes a collaborative lightingplan for the first and second vehicles collaboratively directing one ormore headlights to illuminate the target area of uncertainty.
 12. Themethod of claim 9, wherein the first vehicle collaborative lightingmessage includes a collaborative lighting plan that includes the secondvehicle illuminating a roadway in a direction of travel of the secondvehicle.
 13. The method of claim 9, wherein the target area ofuncertainty is not located on a roadway traveled by the second vehicle.14. The method of claim 11, further comprising: receiving, by theprocessor, a second collaborative lighting message from the firstvehicle requesting that the second vehicle direct one or more headlightsof the second vehicle to illuminate a roadway in a direction of travelof the first vehicle.
 15. The method of claim 11, further comprising:receiving, by the processor, a second collaborative lighting messagefrom the first vehicle that includes a counter-proposal in which thefirst vehicle directs one or more headlights of the first vehicle toilluminate a roadway in a direction of travel of the second vehicle andthe second vehicle directs one or more headlights of the second vehicleto illuminate the target area of uncertainty; and directing, by theprocessor, one or more headlights of the second vehicle to illuminatethe target area of uncertainty.
 16. A vehicle, comprising: a wirelesstransceiver; one or more directable headlights; and a processor coupledto the wireless transceiver and the one or more directable headlights,wherein the processor is configured with processor-executableinstructions to: detect a target area of uncertainty for whichadditional illumination is needed to reduce an assessed uncertaintylevel; and transmit to another vehicle a first vehicle collaborativelighting message that requests that the other vehicle direct one or moreheadlights of the other vehicle to illuminate the target area ofuncertainty that is disposed, relative to the other vehicle, in adirection other than a direction of travel of the other vehicle.
 17. Thevehicle of claim 16, wherein the processor is further configured withprocessor-executable instructions to: direct one or more headlights ofthe vehicle to illuminate a roadway area in the direction of travel ofthe other vehicle.
 18. The vehicle of claim 16, wherein the processor isfurther configured with processor-executable instructions to generate acollaborative lighting plan for the first and second vehiclescollaboratively directing one or more headlights to illuminate thetarget area of uncertainty, wherein the first vehicle collaborativelighting message includes the collaborative lighting plan.
 19. Thevehicle of claim 16, wherein the processor is further configured withprocessor-executable instructions to receive a second collaborativelighting message from the other vehicle requesting that the vehicledirect one or more headlights of the vehicle to illuminate a roadway ina direction of travel of the other vehicle.
 20. The vehicle of claim 16,wherein the processor is further configured with processor-executableinstructions to: receive a second collaborative lighting message fromthe other vehicle that includes a counter-proposal in which the othervehicle directs one or more headlights of the other vehicle toilluminate a roadway in a direction of travel of the vehicle and thevehicle directs one or more headlights of the vehicle to illuminate thetarget area of uncertainty; and direct one or more the headlights of thevehicle to illuminate the target area of uncertainty.
 21. The vehicle ofclaim 16, wherein the processor is further configured withprocessor-executable instructions to: receive a third vehiclecollaborative lighting message from the other vehicle that requests thatthe vehicle direct one or more headlights of the vehicle to illuminate atarget area of uncertainty that is disposed, relative to the vehicle, ina direction other than a direction of travel of the vehicle; and directone or more the headlights of the vehicle to illuminate the target areain accordance with the third vehicle collaborative lighting message. 22.The vehicle of claim 21, wherein the processor is further configuredwith processor-executable instructions to: determine whether the vehiclecan direct one or more headlights of the vehicle to illuminate thetarget area of uncertainty that is disposed in the direction other thanthe direction of travel of the vehicle; and direct one or more theheadlights of the vehicle to illuminate the target area in response todetermining the vehicle can direct one or more headlights of the vehicleto illuminate the target area of uncertainty.
 23. The vehicle of claim21, wherein the processor is further configured withprocessor-executable instructions to transmit a fourth vehiclecollaborative lighting message to a second other vehicle that requeststhat the second other vehicle maintain or increase an illumination levelof a roadway area in the direction of travel of the vehicle.
 24. Acollaborative headlight directing system for use in a vehicle,comprising: a processor configured to communicate via a wirelesstransceiver of the vehicle and send directing commands to one or moredirectable headlights of the vehicle, wherein the processor isconfigured with processor-executable instructions to: detect a targetarea of uncertainty for which additional illumination is needed toreduce an assessed uncertainty level; and transmit to another vehicle afirst vehicle collaborative lighting message that requests that theother vehicle direct one or more headlights of the other vehicle toilluminate the target area of uncertainty that is disposed, relative tothe other vehicle, in a direction other than a direction of travel ofthe other vehicle.
 25. The collaborative headlight directing system ofclaim 24, wherein the processor is further configured withprocessor-executable instructions to: direct one or more the headlightsof the vehicle to illuminate a roadway area in the direction of travelof the other vehicle.
 26. The collaborative headlight directing systemof claim 24, wherein the processor is further configured withprocessor-executable instructions to generate a collaborative lightingplan for the first and second vehicles collaboratively directing one ormore headlights to illuminate the target area of uncertainty, whereinthe first vehicle collaborative lighting message includes thecollaborative lighting plan.
 27. The collaborative headlight directingsystem of claim 24, wherein the processor is further configured withprocessor-executable instructions to receive a second collaborativelighting message from the other vehicle requesting that the vehicledirect one or more headlights of the vehicle to illuminate a roadway ina direction of travel of the other vehicle.
 28. The collaborativeheadlight directing system of claim 24, the processor is furtherconfigured with processor-executable instructions to: receive a secondcollaborative lighting message from the other vehicle that includes acounter-proposal in which the other vehicle directs one or moreheadlights of the other vehicle to illuminate a roadway in a directionof travel of the vehicle and the vehicle directs one or more headlightsof the vehicle to illuminate the target area of uncertainty; and directone or more the headlights of the vehicle to illuminate the target areaof uncertainty.
 29. The collaborative headlight directing system ofclaim 24, wherein the processor is further configured withprocessor-executable instructions to: receive a third vehiclecollaborative lighting message from the other vehicle that requests thatthe vehicle direct one or more headlights of the vehicle to illuminate atarget area of uncertainty that is disposed, relative to the vehicle, ina direction other than a direction of travel of the vehicle; and directone or more the headlights of the vehicle to illuminate the target areain accordance with the third vehicle collaborative lighting message. 30.The collaborative headlight directing system of claim 29, wherein theprocessor is further configured with processor-executable instructionsto: determine whether the vehicle can direct one or more headlights ofthe vehicle to illuminate the target area of uncertainty that isdisposed in the direction other than the direction of travel of thevehicle; and direct one or more the headlights of the vehicle toilluminate the target area in response to determining the vehicle candirect one or more headlights of the vehicle to illuminate the targetarea of uncertainty.
 31. The collaborative headlight directing system ofclaim 29, wherein the processor is further configured withprocessor-executable instructions to transmit a fourth vehiclecollaborative lighting message to a second other vehicle that requeststhat the second other vehicle maintain or increase an illumination levelof a roadway area in the direction of travel of the vehicle.